Disclosure of Invention
An object of the present invention is to provide a robot for medical treatment of a narrow lumen, which has a plurality of combinations of translational and bending degrees of freedom.
To achieve the purpose, the invention adopts the following technical scheme:
A robot for medical operation of a narrow lumen comprises a shell, a continuous body and a first driving mechanism, wherein the continuous body is arranged in the shell, and the first driving mechanism is connected to the shell;
the first driving mechanism comprises a linear driving unit and a rotary driving unit, the linear driving unit can drive the continuous body to extend out of and retract into the shell, and the rotary driving unit can drive the linear driving unit and the continuous body to rotate around the central axis of the continuous body together;
The continuous body comprises a base, a first bending joint, a second driving mechanism and a third driving mechanism, wherein the first bending joint is connected with the second bending joint, the second driving mechanism and the third driving mechanism are both arranged on the base, the second driving mechanism can drive the first bending joint to bend, and the third driving mechanism can drive the second bending joint to bend and stretch relative to the first bending joint.
In some embodiments, the first bending joint comprises a tubular member and at least three first linear drives, the tubular member comprising a plurality of spinal segments connected in series in sequence, the first linear drives connecting the second bending joint after passing through all of the spinal segments;
The second driving mechanism comprises at least three second driving units, at least three second driving units are in one-to-one correspondence with at least three first linear transmission pieces, and each second driving unit can drive the corresponding first linear transmission piece to stretch and retract.
In some embodiments, each of the spinal segments comprises a first cylinder and a second cylinder coaxially connected to the first cylinder;
The corner of one end of the first cylinder far away from the second cylinder is a round angle, a first groove is formed in the end part of one end of the second cylinder far away from the first cylinder, and the wall surface of the first groove is a spherical cambered surface;
In adjacent two of the spinal segments, the first cylinder of one is inserted into the first groove of the second cylinder of the other, and the rounded corner of the first cylinder is in tangential contact with the first groove wall of the second cylinder.
In some embodiments, the second bending joint comprises a third cylinder and at least three second linear driving members, the second linear driving members sequentially penetrating the third cylinder and the second cylinders of the plurality of spinal segments;
The third cylinder is provided with a second groove, the wall surface of the second groove is a spherical cambered surface, the first cylinder of the spine joint adjacent to the third cylinder is inserted into the second groove, and the round angle of the first cylinder is in tangential contact with the wall surface of the second groove;
The third driving mechanism comprises at least three third driving units, at least three third driving units are in one-to-one correspondence with at least three second linear transmission pieces, and each third driving unit can drive the corresponding second linear transmission piece to stretch and retract.
In some embodiments, the second cylinder is provided with at least three first through holes and at least three second through holes, at least three first linear driving members (222) pass through the at least three first through holes (2215) in a one-to-one correspondence manner, and at least three second linear driving members (232) pass through the at least three second through holes in a one-to-one correspondence manner.
In some embodiments, the first linear transmission member is a steel wire and the second linear transmission member is a nitinol wire.
In some embodiments, the stenotic luminal medical manipulator robot further comprises a force sensing mechanism coupled to an end of the second bending joint remote from the first bending joint;
The force sensing mechanism comprises a spring, a first connecting piece, a second connecting piece, three stay wires and a stay wire detection mechanism, wherein the first connecting piece and the second connecting piece are respectively connected to two axial end parts of the spring, the first connecting piece is connected with the second bending joint, and corners of one end of the second connecting piece, which is far away from the first connecting piece, are rounded angles;
The three stay wires respectively penetrate through all ring bodies of the springs and then are converged in the same sheath, one end part of each stay wire is fixedly connected with the springs, the other end part of each stay wire is connected with the stay wire detection mechanism, the stay wire detection mechanism is used for detecting the length variation of the stay wire and the tension of the stay wire, and the contact interaction force between the force sensing mechanism and the surrounding environment can be calculated according to the length variation of the stay wire and the elastic coefficient of the springs.
In some embodiments, the stenotic luminal medical manipulator robot further comprises a visual perception mechanism disposed at the front end of the second bending joint for acquiring image information of human tissue at the front end of the second bending joint.
In some embodiments, the stenotic luminal medical manipulator robot further comprises a flexible protective film wrapped around the outer periphery of the first and second bending joints.
It is another object of the present invention to provide a stenotic luminal medical procedure system. To achieve the purpose, the invention adopts the following technical scheme:
The intelligent terminal is in communication connection with the robot for the medical operation of the narrow lumen, and the intelligent terminal is configured to control the first bending joint and the second bending joint of the robot for the medical operation of the narrow lumen to stretch and bend and receive information collected by the robot for the medical operation of the narrow lumen.
The invention has at least the following beneficial effects:
The robot for the narrow-channel medical operation can drive the first bending joint to bend through the second driving mechanism after the linear driving unit of the first driving mechanism drives the first bending joint to extend out of the shell, can drive the second bending joint to extend out or retract relative to the first bending joint through the third driving mechanism, and can drive the second bending joint to bend through the third driving mechanism after the second bending joint extends out of the first bending joint, so that an operator can control the first bending joint to extend out and bend or control the first bending joint and the second bending joint to extend out and bend according to specific requirements, a plurality of combinations of straight motions and bending degrees of freedom of a continuous body are realized, the various control of the forms of the continuous body is realized, the robot can effectively adapt to free bending of a narrow channel of a human body, the pain of a patient is reduced, and the examination operation difficulty of a doctor is reduced.
The narrow-channel medical operation system comprises the intelligent terminal and the narrow-channel medical operation robot, so that the narrow-channel medical operation robot is intelligently controlled, the continuous body of the narrow-channel medical operation robot can effectively adapt to free bending of a human narrow channel, the pain of a patient is reduced, and the examination operation difficulty of a doctor is reduced.
Drawings
Fig. 1 is a schematic structural view of a robot for medical operation in a narrow-lumen tract according to an embodiment of the present invention;
FIG. 2 is a schematic view of the robot for medical operation in a narrow lumen shown in FIG. 1, with a housing omitted;
fig. 3 is a schematic view of a partial structure of a robot for medical operation in a narrow-lumen tract according to an embodiment of the present invention;
FIG. 4 is a schematic view of a partial structure of a continuum according to an embodiment of the present invention;
FIG. 5 is a second schematic view of a partial structure of a continuum according to an embodiment of the present invention;
FIG. 6 is a schematic illustration of a spinal column segment according to an embodiment of the present invention;
FIG. 7 is a schematic view of the spinal column segment of FIG. 6 from another perspective;
FIG. 8 is a schematic view of the spinal column segment of FIG. 7 from another perspective;
FIG. 9 is a schematic diagram of a force sensing mechanism according to an embodiment of the present invention;
FIGS. 10-15 are schematic views of different working states of a robot for medical operation in a narrow-channel medical treatment according to an embodiment of the present invention;
fig. 16 is a schematic view of a partial structure of a medical operation system for a narrow lumen according to an embodiment of the present invention.
Reference numerals illustrate:
1. the robot for medical operation of the narrow-channel comprises a robot body, 2, a display screen, 3, a movable chassis, 4, a lifting support, 10, a shell, 20, a continuous body, 21, a base, 22, a first bending joint, 23, a second bending joint, 4, a third driving unit, 25, a second transmission piece base, 30, a linear driving unit, 31, a first motor, 32, a first threaded screw, 40, a force sensing mechanism, 41, a spring, 42, a first connecting piece, 43, a second connecting piece, 44, a pull wire, 45, a sheath, 50, a visual sensing mechanism, 60, a flexible protective film, 221, a spine joint, 222, a first linear transmission piece, 231, a third cylinder, 232, a second linear transmission piece, 241, a third motor, 242, a second threaded screw, 2211, a first cylinder, 2212, a second cylinder, 2213, a round angle, 2214, a first groove, 2215, a first through hole, 2216, a second through hole, 2217 and a third through hole.
Detailed Description
In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
The present embodiment provides a robot for a narrow-channel medical treatment operation, which includes a housing 10, a continuous body 20, and a first driving mechanism, the continuous body 20 being provided in the housing 10, the first driving mechanism being connected to the housing 10, the first driving mechanism including a linear driving unit 30 and a rotation driving unit, the linear driving unit 30 being capable of driving the continuous body 20 to extend and retract into the housing 10, the rotation driving unit being capable of driving the linear driving unit 30 to rotate together with the continuous body 20 about a central axis of the continuous body 20, the continuous body 20 including a base 21, a first bending joint 22, a second bending joint 23, a second driving mechanism, and a third driving mechanism, the first bending joint 22 being connected to the second bending joint 23, the second driving mechanism and the third driving mechanism being provided on the base 21, the second driving mechanism being capable of driving the first bending joint 22 to bend, and the third driving mechanism being capable of driving the second bending joint 23 to bend and expand and contract with respect to the first bending joint 22, as shown in fig. 1 to 15.
The robot for narrow-channel medical treatment operation can drive the first bending joint 22 to bend through the second driving mechanism after the first driving mechanism drives the first bending joint 22 to extend from the shell 10, can drive the second bending joint 23 to extend or retract relative to the first bending joint 22 through the third driving mechanism, and can drive the second bending joint 23 to bend through the third driving mechanism after the second bending joint 23 extends relative to the first bending joint 22, so that an operator can control the first bending joint 22 to extend and bend or control the first bending joint 22 and the second bending joint 23 to extend and bend according to specific requirements, multiple straight motions and bending degree of freedom combinations of the continuous body 20 are realized, multiple control of the forms of the continuous body 20 is realized, the robot can effectively adapt to free bending of a narrow channel of a human body, pain of a patient is reduced, and examination operation difficulty of a doctor is reduced. The robot for narrow-cavity medical operation is particularly suitable for examining narrow-cavity channels such as nasal cavities, oral cavities and air pipes and collecting mucous membrane secretions at the positions of the nasal cavities, the oral cavities, the air pipes of the respiratory tracts and the like.
Specifically, the continuous body 20 is connected to an output end of the linear driving unit 30, the linear driving unit 30 can drive the continuous body 20 to perform telescopic motion (i.e. linear reciprocating motion) so that the continuous body 20 extends out of the housing 10 or retracts into the housing 10, the linear driving unit 30 is connected to an output end of the rotary driving unit, and the rotary driving unit can drive the linear driving unit 30 to drive the continuous body 20 to perform rotary motion around a central axis of the continuous body 20, so as to realize posture adjustment of the continuous body 20. When in use, an operator can control the first bending joint 22 and the second bending joint 23 to independently extend, retract, bend or stretch and bend in combination according to the requirements, so as to realize various control of the form of the continuous body 20 and adapt to the free bending of the narrow channel of the human body.
With reference to fig. 10 to 15, the configuration of the continuum 20 of the robot for a narrow-channel medical procedure will be exemplarily described, in which the continuum 20 is short-extended from the inside of the case 10, the first bending joint 22 is straight, the second bending joint 23 is contracted, in which the continuum 20 is long-extended from the inside of the case 10, in which the continuum 20 is straight, in which the second bending joint 23 is extended from the inside of the first bending joint 22, in which the continuum 20 is long-extended from the inside of the case 10, in which the first bending joint 22 is bent, in which the second bending joint 23 is contracted, in which the continuum 20 is long-extended from the inside of the case 10, in which the first bending joint 22 is extended, in which the continuum 23 is extended from the inside of the case 10, in which the continuum 20 is extended from the inside of the case, in which the continuum 20 is extended from the first bending joint 22, in which the continuum 23 is extended from the inside of the case, as shown in fig. 15, and in which the continuum 23 is extended from the first bending joint 22 is extended from the inside of the case, and in which the continuum 23 is extended from the inside of the case.
Alternatively, the linear driving unit 30 of the first driving mechanism may be a motor screw mechanism, an air cylinder, a hydraulic cylinder, an electric push rod, or other linear driving mechanism as long as it can drive the continuous body 20 to extend from or retract into the housing 10, and the rotational driving unit of the first driving mechanism may be a motor. In this embodiment, the linear driving unit 30 is a motor screw mechanism, as shown in fig. 3, and includes a first motor 31 and a first screw 32, where the first motor 31 drives the base 21 to linearly reciprocate through the first screw 32, so as to implement the integral extension and retraction of the continuous body 20.
As shown in FIG. 4, in some embodiments, the first bending joint 22 comprises a tubular member and at least three first linear transmission members 222, the tubular member comprises a plurality of spinal segments 221 connected in series in sequence, the first linear transmission members 222 penetrate through all the spinal segments 221 and then are connected with the second bending joint 23, and the second driving mechanism comprises at least three second driving units, the at least three second driving units are in one-to-one correspondence with the at least three first linear transmission members 222, and each second driving unit can drive the corresponding first linear transmission member 222 to stretch and retract. Specifically, each second driving unit can independently drive the corresponding first linear driving member 222 to stretch and retract, so as to realize independent control of the stretching length of the first linear driving member 222, when the stretching lengths of all the first linear driving members 222 are the same, the first bending joint 22 is kept in a straight state (as shown in fig. 11), when the stretching lengths of different first linear driving members 222 are different, the first bending joint 22 is in a bending state (as shown in fig. 13), and the bending degree and the bending direction of the first bending joint 22 can be adjusted by controlling the stretching length difference between the different first linear driving members 222, so as to realize controllable bending of the first bending joint 22, so as to adapt to free bending of a human body cavity.
It should be noted that, those skilled in the art may actually increase the number of the first linear driving members 222, and the more the number of the first linear driving members 222 is, the more accurate the bending direction of the first bending joint 22 is adjusted.
Alternatively, the second driving unit may be a motor screw assembly, an air cylinder, a hydraulic cylinder, an electric push rod, or other linear driving unit, so long as the first linear driving member 222 can be driven to extend and retract. In this embodiment, the second driving unit is a motor threaded screw assembly, which includes a second motor and a second threaded screw, the first linear transmission member 222 is connected to the second threaded screw through the first transmission member base, and the second motor drives the first transmission member base to linearly reciprocate through the second threaded screw, so as to further realize the expansion and contraction of the first linear transmission member 222.
As shown in fig. 6 to 8, each of the spinal segments 221 includes a first cylinder 2211 and a second cylinder 2212, the second cylinder 2212 is coaxially connected with the first cylinder 2211, a corner of one end of the first cylinder 2211 far from the second cylinder 2212 is a round angle 2213, a first groove 2214 is formed in an end portion of the second cylinder 2212 far from the first cylinder 2211, a wall surface of the first groove 2214 is a spherical arc surface, the first cylinder 2211 of one of the two adjacent spinal segments 221 is inserted into the first groove 2214 of the second cylinder 2212 of the other spinal segment 221, and the round angle 2213 of the first cylinder 2211 is tangential to the wall surface (spherical arc surface) of the first groove 2214 of the second cylinder 2212 so as to ensure that the whole shape of the first bending joint 22 is a circular arc shape in the bending direction adjustment process of the first bending joint 22.
As shown in fig. 4, in some embodiments, the second bending joint 23 includes a third cylinder 231 and at least three second linear transmission members 232, the second linear transmission members 232 sequentially penetrate through the third cylinder 231 and the second cylinders 2212 of the plurality of spinal segments 221, the third cylinder 231 is provided with a second groove, the wall surface of the second groove is a spherical arc surface, the first cylinder 2211 of the spinal segment 221 adjacent to the third cylinder 231 is inserted into the second groove, and the rounded corners 2213 of the first cylinder 2211 are tangential to the wall surface (spherical arc surface) of the second groove, so as to ensure that the whole shape of the continuum 20 is circular arc during the bending direction adjustment of the first bending joint 22, the third driving mechanism includes at least three third driving units 24 (as shown in fig. 5), and the at least three third driving units 24 are in one-to-one correspondence with the at least three second linear transmission members 232, and each third driving unit 24 can drive the corresponding second linear transmission members 232 to stretch out and draw back. The second bending joint 23 can be driven to extend or retract relative to the first bending joint 22 when the at least three third driving units 24 of the third driving mechanism control the at least three second linear driving members 232 to move in synchronization with the same amount, and the second bending joint 23 can be driven to bend when the at least three third driving units 24 of the third driving mechanism control the at least three second linear driving members 232 to move differentially.
Specifically, each third driving unit 24 can individually drive the corresponding second linear driving members 232 to stretch and retract, so as to individually control the stretching length of the second linear driving members 232, when the stretching lengths of all the second linear driving members 232 are the same, the second bending joints 23 are kept in a straight state (as shown in fig. 12), when the stretching lengths of different second linear driving members 232 are different, the second bending joints 23 are in a bending state (as shown in fig. 15), and the bending degree and the bending direction of the second bending joints 23 can be adjusted by controlling the stretching length difference between the different second linear driving members 232, so as to realize the controllable bending of the second bending joints 23, so as to adapt to the free bending of the human body cavity.
It should be noted that, those skilled in the art may actually increase the number of the second linear driving members 232, and the more the number of the second linear driving members 232 is, the more accurate the bending direction of the second bending joint 23 is adjusted.
Alternatively, the third driving unit 24 may be a motor screw assembly, a cylinder, a hydraulic cylinder, an electric push rod, or other linear driving unit, so long as the second linear driving member 232 can be driven to extend and retract. In this embodiment, the third driving unit 24 is a motor threaded screw assembly, as shown in fig. 5, and includes a third motor 241 and a third threaded screw 242, the second linear transmission member 232 is connected to the third threaded screw 242 through the second transmission member base 25, and the third motor 241 drives the second transmission member base 25 to linearly reciprocate through the third threaded screw 242, so as to further implement the expansion and contraction of the second linear transmission member 232.
As shown in fig. 6 and 7, the second cylinder 2212 is provided with a first through hole 2215 through which the first linear transmission member 222 passes and a second through hole 2216 through which the second linear transmission member 232 passes, at least three first linear transmission members 222 pass through the at least three first through holes 2215 in a one-to-one correspondence manner, and at least three second linear transmission members 232 pass through the at least three second through holes 2216 in a one-to-one correspondence manner. Alternatively, the plurality of first through holes 2215 may be uniformly distributed along the circumferential direction of the second cylinder 2212 or non-uniformly distributed along the circumferential direction of the second cylinder 2212, and the plurality of second through holes 2216 may be uniformly distributed along the circumferential direction of the second cylinder 2212 or non-uniformly distributed along the circumferential direction of the second cylinder 2212.
In this embodiment, the first linear driving member 222 is a steel wire, and the second linear driving member 232 is a nitinol wire. Of course, in other embodiments, the first wire drive 222 may be a rigid wire having similar properties to steel wire, and the second wire drive 232 may be a wire having similar properties to nitinol wire.
In some embodiments, the robot for medical operation of a narrow lumen channel further comprises a force sensing mechanism 40, wherein the force sensing mechanism 40 is connected to one end of the second bending joint 23 far away from the first bending joint 22, and the force sensing mechanism 40 can acquire the interaction force between the continuum 20 and the human tissue, so that the function of safe interaction in the narrow space is realized, and the human tissue is prevented from being excessively hard, so that the patient is uncomfortable or even hurt.
As shown in fig. 9, the force sensing mechanism 40 includes a spring 41, a first connecting member 42, a second connecting member 43, three wires 44 and a wire detecting mechanism (not shown), wherein the first connecting member 42 and the second connecting member 43 are respectively connected to two axial ends of the spring 41, the first connecting member 42 is connected to the second bending joint 23, one end corner of the second connecting member 43, which is far away from the first connecting member 42, is rounded, the three wires 44 respectively pass through all ring bodies of the spring 41 and then are converged into the same sheath 45, one end of each wire 44 is fixedly connected with the spring 41, the other end is connected with the wire detecting mechanism, and the wire detecting mechanism is used for detecting the length change of the wire 44 and the tension of the wire 44, and can calculate the contact interaction force between the force sensing mechanism 40 and the surrounding environment according to the length change of the wire 44 and the elastic coefficient of the spring 41. The tension of the pull wire 44 is detected by the pull wire detecting mechanism to control the pretightening force of the pull wire 14, so as to avoid the pull wire 14 from generating tension on the spring 41, and ensure that the initial state of the spring 41 is a free state.
Specifically, three wires 44 are uniformly distributed on the circumference of the spring 41, each wire 44 is in a pre-tensioned state, and the three wires 44 are gathered behind the sheath 45 and connected with the wire detection mechanism after passing through the first bending joint 22 along with the sheath 45 (the second cylinder 2211 is provided with a third through hole 2217 for passing through the sheath 45). When an external force acts on the spring 41 in the radial direction or the axial direction, the lengths of the three stay wires 44 are changed, the length change amount of the stay wires 44 is detected by the stay wire detection mechanism, the magnitude of interaction force acting on the spring 41 from the external world can be calculated according to the length change amount of the stay wires 44 and the elastic coefficient of the spring 41, and the interaction force (axial direction and radial direction) of the continuous body 20 and human tissues can be obtained based on the contact interaction force sensing of the deformation of the spring 41, so that the function of safe interaction of the continuous body 20 in a narrow space is realized. Wherein, the three wires 44 are uniformly distributed, which is favorable for calculating the deformation of the spring 41 through the length variation of the wires 44 and the elastic coefficient of the spring 41, thereby calculating the magnitude of the contact interaction force. Of course, the three wires 44 may be distributed at random along the circumference of the spring 41, but this increases the amount of calculation of the spring deformation.
In some embodiments, the robot for stenotic lumen medical treatment further comprises a visual perception mechanism 50 (as shown in fig. 4), wherein the visual perception mechanism 50 is disposed at the front end of the second bending joint 23, so as to acquire image information of human tissue at the front end of the second bending joint 23. Alternatively, the type of the visual perception mechanism 50 is not limited as long as acquisition of image information of human tissue can be achieved. In this embodiment, the visual perception mechanism 50 is an endoscope, and the endoscope is disposed near the front end of the visual perception mechanism 50, so that the endoscope can not only realize the visual navigation function, but also acquire the human tissue image of the front end of the visual perception mechanism 50, so that the doctor can acquire the health condition of the human tissue through image processing.
In some embodiments, the stenotic luminal medical manipulator robot further comprises a flexible protective film 60 (as shown in fig. 1), the flexible protective film 60 being wrapped around the outer periphery of the first and second bending joints 22, 23. The flexible protective film 60 has a smooth surface, so that friction between the continuous body 20 and a human body can be reduced, the continuous body 20 can move more smoothly, discomfort of a patient can be reduced, and simultaneously, the flexible protective film 60 can prevent surrounding medium from entering the first bending joint 22 and the second bending joint 23, and prevent the surrounding medium from interfering with the movement of the first bending joint 22 and the second bending joint 23.
The embodiment also provides a narrow-channel medical operation system. As shown in fig. 16, the stenosis channel medical operation system includes an intelligent terminal (not shown) and the above-described robot 1 for stenosis channel medical operation, the intelligent terminal is communicatively connected to the robot 1 for stenosis channel medical operation, and the intelligent terminal is configured to be able to control the first bending joint 22 and the second bending joint 23 of the robot 1 for stenosis channel medical operation to expand and contract, bend and rotate, and to receive information collected by the robot 1 for stenosis channel medical operation.
Specifically, the intelligent terminal can control the working states of the first driving mechanism, the second driving mechanism and/or the third driving mechanism according to the information fed back by the force sensing mechanism 40 so as to control the extension and retraction of the continuous body 20, the bending of the first bending joint 22 and the extension and retraction of the second bending joint 23, wherein after the force sensing mechanism 40 collects the interaction force between the continuous body 20 and the human tissue, the intelligent terminal judges whether the interaction force is in a safe setting range through a preset algorithm, if the interaction force exceeds the safe setting range, the intelligent terminal automatically controls the working states of the first driving mechanism, the second driving mechanism and/or the third driving mechanism to drive the bending of the first bending joint 22 and the second bending joint 23 to retract along the vertical direction of the contact force, so that the contact part of the continuous body 20 and the human tissue moves towards the direction for reducing the contact force, and the safe interaction between the narrow-channel medical operation robot 1 and the human tissue is ensured.
The narrow-cavity medical operation system can realize intelligent control of the robot 1 for narrow-cavity medical operation through the intelligent terminal, so that the continuum 20 of the robot 1 for narrow-cavity medical operation can effectively adapt to free bending of a narrow channel of a human body, pain of a patient is reduced, and examination operation difficulty of a doctor is reduced.
Further, the narrow-cavity medical operation system further comprises a display screen 2, a movable chassis 3 and a lifting support 4, wherein the lifting support 4 is arranged on the movable chassis 3, the robot 1 for narrow-cavity medical operation is arranged on the lifting support 4, the lifting support 4 can lift to adjust the height of the robot 1 for narrow-cavity medical operation so as to adapt to the heights of different patients, rollers are arranged at the bottom of the movable chassis 3 and are convenient to move, the display screen 2 is used for displaying human tissue images acquired by a visual perception mechanism 50, so that both doctors and patients can observe an inspection process at the same time, and effective communication between both doctors and patients is facilitated.
It should be noted that when one portion is referred to as being "fixed to" another portion, it may be directly on the other portion or there may be a portion in the middle. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only and do not represent the only embodiment.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.