CN211460506U

CN211460506U - Main operating platform for improving immersion feeling and surgical robot

Info

Publication number: CN211460506U
Application number: CN201822153018.1U
Authority: CN
Inventors: 王建辰; 其他发明人请求不公开姓名
Original assignee: Shenzhen Edge Medical Co Ltd
Current assignee: Shenzhen Edge Medical Co Ltd
Priority date: 2018-12-20
Filing date: 2018-12-20
Publication date: 2020-09-11
Anticipated expiration: 2028-12-20

Abstract

The utility model relates to a promote main operation platform and surgical robot who immerses sense, wherein, main operation platform includes: a stand, a display device and an observation device, wherein the display device is arranged on the stand so that an operation part operates in an operation image area displayed by the display device; and the observation device is arranged on the support and used for limiting observation of the observation direction of the display device so as to enable the observation direction and the plane where the operation image displayed by the display device is located to form an observation included angle.

Description

Main operating platform for improving immersion feeling and surgical robot

Technical Field

The utility model relates to a minimal access surgery field especially relates to a main operation platform and operation robot.

Background

The minimally invasive surgery is a surgery mode for performing surgery in a human body cavity by using modern medical instruments such as a laparoscope, a thoracoscope and the like and related equipment. Compared with the traditional minimally invasive surgery, the minimally invasive surgery has the advantages of small wound, light pain, quick recovery and the like.

With the progress of science and technology, the minimally invasive surgery robot technology is gradually mature and widely applied. The minimally invasive surgical robot generally comprises a main operating platform and a slave operating device, wherein the main operating platform is used for sending control commands to the slave operating device according to the operation of an operator so as to control the slave operating device, and the slave operating device is used for responding to the control commands sent by the main operating platform and carrying out corresponding surgical operation.

The main console of the prior art uses a display to display an image of a patient's lesion taken from an endoscope in the console device, and the main purpose of the imaging mechanism is to change the optical path and thus the distance between the doctor's eyes and the image. However, since the display angle and/or position between the display and the imaging mechanism is generally fixed and non-adjustable, such non-adjustable configuration is advantageous for some physicians desiring to view better image effects, such as image viewing angle, but is often disadvantageous for other physicians having differences in individuals, including but not limited to height, sitting posture, and eyesight.

SUMMERY OF THE UTILITY MODEL

In view of the above, there is a need for a main operating table and a surgical robot, wherein the included angle and/or the position of the display device can be easily adjusted.

A main console, comprising:

a support;

a display device provided on the stand so that the operation portion operates in an operation image area displayed by the display device;

and the observation device is arranged on the support and used for limiting observation of the observation direction of the display device so as to enable the observation direction and the plane where the operation image displayed by the display device is located to form an observation included angle.

In one embodiment, the observation included angle is 20-160 degrees.

In one embodiment, the viewing angle is substantially a right angle.

In one embodiment, the viewing direction limited by the viewing device forms a line of sight angle with the horizontal line of sight of the operator.

In one embodiment, the included angle of the sight line is 3-30 degrees.

In one embodiment, the line of sight is located in a middle region of the operation image.

In one embodiment, the display device includes a display and an imaging mechanism, the imaging mechanism is used for generating the operation image of the image based on the image in the display, the display and the imaging mechanism form an included angle to operate the operation portion in the operation image area, and the observation included angle is an included angle between a surface of the imaging mechanism forming the operation image and an observation direction.

In one embodiment, the display device has a display, the display displays the operation image, and the observation included angle is an included angle between the display and an observation direction.

In one embodiment, the main operating table comprises a second adjusting mechanism, and the observation device is connected with the second adjusting mechanism to adjust the observation angle limited by the observation mechanism through the second adjusting mechanism.

In one embodiment, the main console further includes a first adjusting mechanism and a position acquiring portion, the first adjusting mechanism is used for adjusting the position of the display device, the position acquiring portion is used for acquiring the position information of the observation device and/or the position information of the operation portion, and the first adjusting portion and/or the second adjusting portion adjusts the display angle and/or the observation angle according to the position information of the operation portion and the position information of the observation device.

In one embodiment, the main operating table further comprises a lifting mechanism disposed on the support, and at least one of the observation device and the display device is disposed on the lifting mechanism.

In one embodiment, the observation device and the display device are both arranged on the lifting mechanism, and the display device and the observation device are adjusted together with the lifting mechanism.

In one embodiment, the observation device and the display device are both arranged on the lifting mechanism, and the display device and the observation device are respectively adjusted along with the lifting mechanism.

In one embodiment, the main console further comprises a lifting mechanism and an armrest disposed on the support, and at least one of the observation device, the display device and the armrest is disposed on the lifting mechanism.

In one embodiment, the viewing device, the armrest, and the display device are adjusted together by a structure disposed on the lifting mechanism.

In one embodiment, the structures of the observation device, the armrest and the display device arranged on the lifting mechanism are respectively adjusted.

In one embodiment, the operation portion corresponds to a relationship between the distal end instruments in the operation image.

In one embodiment, the operation portion coincides with a positional relationship between the distal end instrument in the operation image.

In one embodiment, the imaging mechanism has an opaque mirror through which the image in the display forms an operational image.

In one embodiment, the imaging mechanism has a light-transmissive mirror, and the image in the display is imaged by the mirror to form an operational image.

In one embodiment, the main console further comprises an operating part which is free from constraint when in motion.

In one embodiment, the main console further comprises an operating part having a constraint when in motion.

A surgical robot, comprising: the main operating table and the slave operating device,

the main operating platform is used for sending a control command to the slave operating equipment according to the operation of a doctor so as to control the slave operating equipment, and the slave operating equipment is used for responding to the control command sent by the main operating platform and carrying out corresponding operation.

Drawings

Fig. 1 is a schematic structural view of an embodiment of the surgical robot of the present invention;

FIG. 2 is a partial schematic view of an embodiment of the slave operating device;

FIG. 3 is a partial schematic view of an embodiment of the slave operating device;

FIG. 4 is a schematic structural diagram of an embodiment of the main console of the present invention;

FIG. 5 is a schematic view of the main console shown in FIG. 4 in use;

FIG. 6 is a schematic structural diagram of an embodiment of the main console of the present invention;

FIG. 7 is a schematic view of the main console shown in FIG. 6 in use;

FIG. 8 is a schematic view of a partial structure of an embodiment of the main console of the present invention;

fig. 9 is a schematic partial structural diagram of an embodiment of the main console of the present invention.

Detailed Description

In order to facilitate understanding of the present invention, the present invention will be described more fully hereinafter with reference to the accompanying drawings. The preferred embodiments of the present invention are shown in the drawings. The 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.

It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. 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. When an element is referred to as being "coupled" to another element, it can be directly coupled to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments. As used herein, the terms "distal" and "proximal" are used as terms of orientation that are conventional in the art of interventional medical devices, wherein "distal" refers to the end of the device that is distal from the operator during a procedure, and "proximal" refers to the end of the device that is proximal to the operator during a procedure.

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. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Fig. 1 to 3 are schematic structural diagrams of an embodiment of the surgical robot of the present invention, and partial schematic diagrams of different embodiments of the slave operation device 20, respectively.

The surgical robot includes a master operation table 10 and a slave operation device 20. The master console 10 is configured to transmit a control command to the slave console 20 according to an operation of an operator to control the slave console 20, and is configured to display an image captured by the slave device. The slave operation device 20 is used for responding to a control command sent by the master operation console 10 and performing corresponding operations, and the slave operation device 20 is also used for acquiring an in-vivo image.

Specifically, the slave manipulation apparatus 20 includes a robot arm 21, a power mechanism 22 provided on the robot arm 21, a manipulation arm 23 provided on the power mechanism 22, and a sleeve 24 that sleeves the manipulation arm 23. The mechanical arm 21 is used for adjusting the position and posture of the operating arm 23; the power mechanism 22 is used for driving the operating arm 23 to execute corresponding operation; the manipulator arm 23 is used to extend into the body and perform a surgical operation and/or acquire an in-vivo image by using a distal end instrument, such as an electric knife, a clamp, an endoscope, etc., for performing the surgical operation. As shown in fig. 2 and 3, the operating arm 23 is inserted through the sleeve 24, and the distal instrument extends out of the sleeve 24 and is driven to operate by the power mechanism 22. In fig. 2, the region of the operating arm 23 located within the sleeve 24 is a rigid region; in fig. 3, the region of the operating arm 23 located within the sleeve 24 is a flexible region, and the sleeve 24 bends with the flexible region. In other embodiments, the sleeve 24 may be omitted, in which case the sleeve 24 is not required.

As shown in fig. 4 to 7, the main console 10 includes a stand 100, a display device 200, an operation portion 300, an armrest 400, and an observation device 500. The display device 200 is used to display the acquired in-vivo image and display the operation image 30, and may be disposed on the stent 100 or disposed independently of the stent. The operator operates the operation unit 300 to cause the slave operation device 20 to perform corresponding operations, and the operation unit 300 may be a handle, as shown in fig. 6 and 7, which is free from restriction during movement, or may be a lever or the like, as shown in fig. 4 and 5, which has restriction during movement, for example, the operation unit 300 is a lever and is connected to the cradle 100. The armrest 400 is used to place the arm and/or hand of the operator so that the operator can more comfortably operate the operating portion 300. The observation device 500 is used to observe the image displayed by the display device 200. The operation unit 300 may be omitted as needed, and the slave operation device 20 may be controlled in other ways, for example, by acquiring the hand posture and position to control the slave operation device 20; the armrest 400 may also be omitted; the observation device 500 may be omitted, and in this case, direct observation may be performed.

The operation unit 300 operates in the area of the operation image 30 displayed on the display device 200, wherein the operation unit 300 may be located in the operation image 30 or in the area around the operation image 30, for example, the operation unit 300 operates within a range of 10cm from the operation image.

In one embodiment, the manipulation section 300 corresponds to the relationship between the distal end instruments in the manipulation image 30. For example, the position relationship corresponds, and the position relationship corresponds may be a distance proportion, a distance trend, and the like. For another example, the motion relationship corresponds to the motion posture, the motion trend, and the like. Specifically, for example, the operation section 300 operates in the vicinity of the lesion in the operation image 30, the distance therebetween corresponds to the distance between the distal end instrument and the lesion in the operation image 30, and the posture of the operation section 300 is the same as the posture of the distal end instrument. For another example, the operation portion 300 coincides with the positional relationship between the distal end instruments in the operation image 30. That is, when the operation unit 300 operates the lesion region in the image 30, the operation unit operates the distal end instrument in the image 30 in a region corresponding to the lesion.

When the main console 10 is used, the operation unit 300 operated by the operator is located in the operation image 30 region, so that the operator can feel more immersed during operation and can be brought closer to a real operation state.

In the embodiment shown in fig. 4 and 5, the display device 200 includes a display 210 and an imaging mechanism 220 disposed opposite to each other. The imaging mechanism 220 is used for generating an operation image 30 of the image based on the image in the display 210, namely, the image in the display 210 forms a corresponding operation image 30 in the imaging mechanism 220, and the display 210 forms a display angle with the imaging mechanism 220 so that the operator operates the operation part 300 in the area of the operation image 30. At this time, the position of the operation image 30 is different from the position of the image in the display 210.

In one embodiment, the imaging mechanism 220 has an opaque mirror in which the image on the display 210 is imaged to form the manipulated image 30. In one embodiment, the imaging mechanism 220 may also have a transparent mirror, such as a beam splitter mirror, so that the operator can see both the operation image 30 reflected by the beam splitter mirror and the image of the operation unit 300 operated by the operator through the beam splitter mirror.

It should be noted that, according to practical circumstances, the imaging mechanism 220 may include a plurality of mirror surfaces, and the display image on the display 210 is reflected multiple times to form the operation image 30 of the operation area of the operation portion 300, at least one of the mirror surfaces facing the display 210.

In the embodiment shown in fig. 6-9, the display device 200 may omit the imaging mechanism 220, and the display device 200 faces the observation device 500 so that the operator can observe the image on the display 210 through the observation device 500. The specific structure thereof can be referred to hereinafter.

In one embodiment, the main console 10 has a first adjusting mechanism 600 disposed on the display device 200 for adjusting the position of the display device 200. In the embodiment shown in fig. 4 and 5, when the display device 200 includes the display 210 and the imaging mechanism 220, the display angle between the display 210 and the imaging mechanism 220 and/or the position of the display 210 and the imaging mechanism 220 are/is adjusted as a whole without changing the display angle; in the embodiment shown in fig. 6 and 7, the position of the display 210 is adjusted when the display device 200 does not have the imaging mechanism 220.

When the imaging mechanism 220 is provided, the first adjustment mechanism may adjust only the display 210 or the imaging mechanism 220, or may adjust the display 210 and the imaging mechanism 220 at the same time to adjust the display angle. It should be noted that, when the imaging mechanism 220 has a plurality of mirrors, the display angle is the angle between the mirrors of the operating region operating image 30 formed by the display 210 and the imaging mechanism 220, and the first adjusting mechanism 600 can adjust the angles between the plurality of mirrors, or can adjust the angles between only some of the mirrors.

Further, the location of the display 210 and/or the imaging mechanism 220 may be mounted as desired. For example, the imaging mechanism 220 is parallel to the placement surface of the main operation table 10. Further, for example, the angle between the imaging mechanism 220 and the mounting surface of the main operating board 10 is-40 to 40 degrees.

It should be noted that the first adjusting mechanism may adjust the display device 200 during installation and then fix the display device 200, so that the display device 200 is kept at a fixed position during operation; the position of the display device 200 can also be adjusted at any time according to the use requirement during the use process. For example, the first adjusting mechanism 600 has a first mounting portion, a second mounting portion and a locking portion, the first mounting portion is rotatably connected to the second mounting portion, the locking portion is used for locking the first mounting portion to the second mounting portion to fix the display angle, wherein the display 210 is connected to the first mounting portion, and the imaging mechanism 220 is connected to the second mounting portion. For another example, the first adjusting mechanism 600 has a first mounting portion, a second mounting portion and a driving portion, wherein the first mounting portion and the second mounting portion are rotatably connected, the driving portion is used for driving the first mounting portion and/or the second mounting portion to rotate, the display 210 is connected to the first mounting portion, and the imaging mechanism 220 is connected to the second mounting portion.

In one embodiment, the main console 10 includes a position acquiring unit (not shown) for acquiring the position of the operating unit 300, and the first adjusting mechanism 600 adjusts the display device 200 according to the acquired position information of the operating unit 300.

For example, the first adjustment mechanism 600 adjusts the display device 200 so that the plane of the operation image 30 substantially coincides with the plane of the operation unit 300, in accordance with the position of the operation unit 300.

For another example, the first adjustment mechanism 600 adjusts the display device 200 so that the operation portion 300 corresponds to the relationship between the distal end instruments in the operation image 30, according to the position of the operation portion 300. For example, the positional relationship between the operation section 300 and the lesion region in the operation image 30 substantially coincides with the positional relationship between the distal end instrument and the lesion in the display 210, that is, the positional relationship between the distal end instrument and the lesion in the operation image 30. Specifically, it includes the following steps.

Step 1, first position information of a focus in an operation image 30 is acquired.

The first position information of the lesion may be directly obtained, or the first position information may be obtained first from the image of the display 210 and then obtained according to the position information.

And step 2, acquiring second position information of the operation part 300.

And 3, acquiring expected position information of the operation image 30 according to the first position information and the second position information, and adjusting the position of the display device 200 according to the expected position information so as to enable the operation image 30 to be located at an expected position.

Wherein the display device 200 does not need to be adjusted when the deviation between the first position information and the second position information is within the preset deviation, and the display device 200 needs to be adjusted when the deviation exceeds the preset tolerance. It should be noted that, in order to avoid the display device 200 adjusting too frequently to affect the operation experience, a larger preset tolerance may be set.

In one embodiment, the observation device 500 has an eyepiece for observing the image displayed by the display device 200, and the operation image 30 observed through the eyepiece corresponds to the operation region of the operation portion 300. That is, the operation area of the operation unit 300 is located in the operation image 30 area. In this case, as shown in fig. 8, the operation image 30 observed through the eyepiece may be the same as the position of the image on the display 210, or as shown in fig. 5, 7, and 9, the operation image 30 observed through the eyepiece may be different from the position of the image on the display 210. When the positions are the same, the eyepiece or the observation device 500 may be omitted and the image on the display 210 may be directly observed. When the positions are different, the eyepiece sets the position of the observed operation image 30 to be in a proper position through the lens module. For example, on the side of the display 210 remote from the viewing device 500. It should be noted that when the display 210 is a three-dimensional display 210, the eyepiece can present a three-dimensional image. The operation image observed through the eyepiece can be understood as an observation image displayed on the display.

When the observation device 500 has an eyepiece, the display device 200 may be the display device 200 in each of the above embodiments, that is, the display device 200 may be the display device 200 having the imaging mechanism 220, or the display device 200 without the imaging mechanism 220.

Further, the eyepiece has a focal length adjusting section for adjusting the focal length to adjust the position of the observed operation image 30.

In one embodiment, the observation device 500 is integrated with the display device 200, i.e. the relative position between the two is not changed. Specifically, the observation device 500 and the display device 200 are both disposed on the stand 100. In other embodiments, the observation device 500 and the display device 200 may be both disposed on a wearable body, and in this case, the observation device 500 and the display device 200 are wearable, as shown in fig. 9, in the embodiment, the observation device 500 and the display device 200 are worn on the head through the wearable body.

In other embodiments, the observation device 500 may be disposed separately from the display device 200, i.e., the positional relationship between the two is relatively variable. For example, the display device 200 is adjustable relative to the viewing device 500.

It should be noted that, in an embodiment, the observation device 500 and/or the display device 200 are disposed separately from the stand 100. That is, at least one of the viewing device 500 and the display device 200 is disposed independently of the stand 100.

In one embodiment, the viewing device 500 is configured to limit the viewing direction such that the viewing direction forms a viewing angle with respect to a plane of the display device 200 forming the operation image 30. The observation device 500 and the restricted observation direction can be set as required. For example, the viewing device 500 is substantially perpendicular to the viewing direction, and for example, the viewing device 500 is at an angle of 60 to 120 degrees with respect to the viewing direction. It should be noted that, when the imaging mechanism 220 includes a plurality of mirrors, the observation angle is an angle between the observation device 500 and the mirror of the imaging mechanism 220 that forms the operation region operation image 30. Further, the observation device 500 is also used to limit the observation direction so that the line of sight is located in the middle region of the operation image 30.

In one embodiment, the viewing direction forms a viewing angle with a horizontal viewing direction of the operator, wherein the horizontal viewing direction of the operator refers to a viewing direction when the operator is sitting straight or standing straight at the current position and is viewing in front of the operator. Further, the view angle is acute. For example, the included angle of the visual line is 3 to 30 degrees, and for example, the included angle of the visual line is 10 degrees.

In one embodiment, the viewing device 500 is disposed on the frame 100, and the operator can observe the viewing device 500 with the eyes close to each other, so as to observe the viewing device 500 at a limited angle. For example, the main console 10 has a housing provided on the stand 100, and the observation device 500 is provided on the housing. For another example, the observation device 500 is disposed on the support 100 by a second adjusting mechanism, the second adjusting mechanism can adjust the position of the observation device 500 as required, and when the main console 10 has a housing, the observation device 500 may be disposed on the housing, adjustable relative to the housing, or may extend out of the housing. In other embodiments, the observation device 500 may be disposed on other structures, for example, the observation device 500 is a stand-alone structure disposed on the observation support 100, a wall, a ceiling, or a wearable structure, i.e., the observation device 500 is independent of other structures of the main console 10.

In one embodiment, the observation angle is 20 to 160 degrees. For example, the viewing angle is substantially a right angle. For another example, the observation angle is 75 to 105 degrees. The plane of the operation image 30 can be set according to actual needs. For example, the plane on which the operation image 30 is placed is parallel to the placement plane of the main operation table 10. For another example, the plane of the operation image 30 is parallel to the plane of the armrest 400. As another example, the plane of the operation image 30 forms an obtuse angle with the plane of the armrest 400.

In one embodiment, the position acquiring unit is used to acquire the position of the observation device 500 and/or the operation unit 300, and for example, two position acquiring units are used to acquire the positions of the operation unit 300 and the observation device 500, respectively. The first adjustment mechanism 600 and/or the second adjustment mechanism adjusts the display angle and/or the observation angle according to the acquired position information of the operation portion 300 and the observation device 500. For example, the position between the plane in which the imaging mechanism 220 forms the operation image 30 and the observation device 500 is adjusted so that the observation angle is within a preset range. It should be noted that, when the observation included angle is adjusted, the observation included angle may be adjusted only by the first adjusting mechanism 600 or the second adjusting mechanism, or may be adjusted by two adjusting mechanisms at the same time. When only one adjustment mechanism is required for adjustment, the position acquisition section acquires only information relating to the adjustment mechanism.

The display included angle is the same as the adjustment included angle, wherein the adjustment is not needed when the included angle is observed in the preset deviation, and the larger preset tolerance can be set in order to avoid the phenomenon that the adjustment frequently affects the operation experience.

The main console 10 further includes a lifting mechanism (not shown) disposed on the support 100, wherein at least one of the armrest 400, the display device 200, and the observation device 500 is disposed on the lifting mechanism and adjusted by the lifting mechanism. For example, the display device 200 and the armrest 400 are provided on the lifting mechanism. For another example, the observation device 500 and the display mechanism are provided on the elevating mechanism. For another example, the display mechanism, the armrest 400, and the observation device 500 are all disposed on the lifting mechanism. For another example, only the armrest 400, the display mechanism, or the observation device 500 is provided on the elevating mechanism. When the armrest 400 or the observation device 500 is omitted from the main console 10, at least one of the remaining structures is provided in the elevating mechanism.

Further, when a plurality of structures of the armrest 400, the display device 200, and the observation device 500 are provided on the elevating mechanism, the structures provided on the elevating mechanism may be adjusted together or separately. For example, the display device 200 and the armrest 400 are adjusted together with the lifting mechanism, that is, the relative positions of the display device 200 and the armrest 400 are not changed, and the display device 200 and the armrest 400 are adjusted together with the lifting mechanism, so that the adjusted operation portion 300 is still located in the operation image 30 area. For another example, the display device 200 and the armrest 400 are adjusted by the lifting mechanism, that is, the relative positions of the display device 200 and the armrest 400 are changed during adjustment, in this case, the lifting mechanism may include two lifting portions connected to the armrest 400 and the display device 200, respectively, or two lifting mechanisms connected to the armrest 400 and the display device 200, respectively. For another example, the display device 200 and the observation device 500 are disposed on the elevating mechanism and adjusted together with the elevating mechanism, or adjusted separately from the elevating mechanism. For another example, the armrest 400 and the observation device 500 are mounted on the lifting mechanism to be adjusted together with the lifting mechanism or to be adjusted separately. For another example, the armrest 400, the observation device 500, and the display device 200 are all disposed on the lifting mechanism and adjusted together with the lifting mechanism.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. A main console for enhancing immersion, comprising:

a support;

the display device is arranged on the bracket and comprises a display and an imaging mechanism which are oppositely arranged, the imaging mechanism is used for generating an operation image of the image based on the image in the display, and the display and the imaging mechanism form a display included angle so as to operate an operation part in the operation image area;

the observation device is arranged on the bracket and used for limiting the observation direction of observing the imaging mechanism so as to form an observation included angle between the observation direction and the plane of the operation image displayed by the imaging mechanism;

the main operating platform is provided with a first adjusting mechanism which is arranged on the display device and used for adjusting the display included angle between the display and the imaging mechanism and/or integrally adjusting the position of the display and the imaging mechanism.

2. The main console of claim 1, wherein the viewing angle is 20-160 degrees.

3. The main console of claim 1, wherein the viewing angle is substantially a right angle.

4. The main console of claim 1, wherein the viewing direction limited by the viewing device forms a line of sight angle with a horizontal line of sight of the operator.

5. The main console of claim 4, wherein the included angle of line of sight is 3 to 30 degrees.

6. The main console of claim 4, wherein the viewing device limits the viewing direction so that the line of sight is located in a central region of the operation image.

7. The main operating table according to claim 1, characterized in that it comprises a second adjustment mechanism, to which said viewing device is connected to adjust the viewing angle limited by said viewing device through said second adjustment mechanism.

8. The main console according to claim 7, further comprising a position acquiring unit for acquiring position information of the observation device and/or position information of the operation unit, wherein the first adjusting mechanism and/or the second adjusting mechanism adjusts the display angle and/or the observation angle according to the position information of the operation unit and the position information of the observation device.

9. The main console of claim 1, further comprising a lift mechanism disposed on the support, wherein at least one of the viewing device and the display device is disposed on the lift mechanism.

10. The main operating table according to claim 9, wherein the observation device and the display device are both disposed on the lifting mechanism, the display device and the observation device being adjusted together with the lifting mechanism.

11. The main operating table according to claim 10, wherein the observation device and the display device are both disposed on the lifting mechanism, and the display device and the observation device are respectively adjusted along with the lifting mechanism.

12. The main console of claim 1, further comprising a lift mechanism and a hand rest disposed on the support, wherein at least one of the viewing device, the display device, and the hand rest is disposed on the lift mechanism.

13. The main console of claim 12, wherein the viewing device, the armrest, and the structure of the display device disposed on the lift mechanism are adjusted together.

14. The main console of claim 12, wherein the viewing device, the armrest, and the structure of the display device disposed on the lift mechanism are individually adjustable.

15. The main console according to claim 1, wherein the operation portion corresponds to a motion relationship between the distal end instruments in the operation image.

16. The main console according to claim 1, wherein the operating section coincides with a positional relationship between the distal end instrument in the operation image.

17. The main console of claim 1, wherein the imaging mechanism has a mirror opaque to light, the image in the display forming an operational image through the mirror.

18. The main operating table of claim 1, wherein the imaging mechanism has a mirror surface that is transparent to light, the image in the display forming an operating image by imaging of the mirror surface.

19. The main operating table according to claim 1, characterized in that it further comprises an operating portion that is free from constraints when in motion.

20. The main operating table according to claim 1, characterized in that it further comprises an operating portion having a constraint when in motion.

21. A surgical robot, comprising: a master console and slave console device according to any of claims 1 to 20,