CN116763440A - Control method of doctor control console, doctor control console and operation system - Google Patents
Control method of doctor control console, doctor control console and operation system Download PDFInfo
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Abstract
The invention belongs to the technical field of medical instruments, and discloses a control method of a doctor console, the doctor console and a surgical system. The doctor control console comprises a scanning assembly and a personnel operation area, wherein the scanning assembly can acquire images of the personnel operation area on the front side of the scanning assembly, and in the control method of the doctor control console, images of the front side of the scanning assembly in the doctor control console are acquired; when the image comprises a human body part, acquiring the current height of the scanning assembly; acquiring operation information according to the image, the human body part in the image and the current height; and adjusting the posture of the doctor control console according to the operation information so as to improve the comfort level of an operator and reduce the fatigue level of the operator. According to the invention, the doctor console can be adjusted according to the operation posture, the height, the leg length, the arm length and the eye height of the operator, so that the operator is in the optimal viewing distance, and the operation can be more convenient, accurate and comfortable.
Description
Technical Field
The present invention relates to the field of medical devices, and in particular, to a control method for a doctor console, and a surgical system.
Background
Surgical robots are robots having a function capable of replacing surgical actions performed by surgeons, and are powerful tools that have been developed to assist surgeons in completing operations in accordance with the trend of precision surgery.
The medical surgical robot is designed to perform complicated surgical operations in a minimally invasive manner. Under the condition that the traditional operation faces various limitations, a surgical robot is developed to replace the traditional surgical instrument, the surgical robot breaks through the limitations of human eyes, and the internal organs are more clearly presented to an operator by adopting a stereoscopic imaging technology. In the area that original hand stretches into, accomplish 360 degrees rotations, move, swing, the difficult complicated actions of accomplishing of staff such as centre gripping through the robot to avoid appearing the condition of shake. The wound is small, the bleeding is less, the recovery is quick, the postoperative hospitalization time of the patient is greatly shortened, the postoperative survival rate and the recovery rate are obviously improved, and the wound is favored by vast doctors and patients, so that the wound healing device is widely applied to various clinical operations.
Currently, doctors typically control surgical robot movements through a doctor console. The doctor console includes an operation console capable of controlling the surgical robot and a display capable of displaying an image of the patient's surgical site. The existing doctor control desk is generally designed according to standing postures or sitting postures, the height of a display cannot be adapted to operators with different heights, so that the postures of the operators are single and limited, one posture and high tension mental state are required to be kept for a long time for working, physical fatigue and mental fatigue are easy to occur, misoperation of equipment is easy to occur due to the mental fatigue of the operators, and unpredictable consequences are brought to patients; the operator can be used for a long time, and the physical health of the operator is damaged.
In order to flexibly adjust the posture of an operator, the height of a display in a part of doctor control consoles is adjustable, but the operator is required to adjust the posture automatically, the adjustment time is long, the adjustment is inconvenient, the adjusted height is unscientific, the operator still can be tired, and certain operation risks exist.
Disclosure of Invention
The invention aims to provide a control method of a doctor console, which can solve the problems of unchanged adjustment of the doctor console and poor adjustment effect.
To achieve the purpose, the invention adopts the following technical scheme:
a control method of a doctor console including a scanning assembly capable of acquiring an image of a personnel operation area of a front side thereof, and a personnel operation area, the control method comprising:
acquiring an image of the front side of the scanning assembly in a doctor console;
when the image comprises a human body part, acquiring the current height of the scanning assembly;
acquiring operation information according to the image, the human body part in the image and the current height;
and adjusting the posture of the doctor control console according to the operation information.
As an alternative to the control method of the doctor console, the operation information includes:
operator's operational posture and sign information of the operator.
As an alternative to the control method of the doctor console, the physical sign information of the operator includes at least one of a screen viewing distance, a height, a leg length, an arm length, a neck length, and a head circumference of the operator.
As an alternative to the control method of the doctor console, acquiring the operation posture of the operator includes:
According to the human body part, acquiring a preset height value corresponding to the human body part, wherein the preset height value is positioned in the height range of the human body part when an operator is in a sitting posture;
when the current height is not greater than a preset height value, the operator is sitting;
and when the current height is larger than a preset height value, the operator is standing.
As an alternative to the control method of the doctor console, the adjusting the posture of the doctor console according to the operation information includes:
according to the operation posture, adjusting the doctor control console to a preset initial posture corresponding to the operation posture;
and correcting the posture of the doctor console according to the physical sign information of the operator.
As an alternative to the control method of the doctor console, the method further includes, after adjusting the posture of the doctor console according to the operation information:
and adjusting the posture of the doctor console according to the acquired adjustment instruction input by the operator.
As an alternative to the control method of the doctor console, the method further includes, after adjusting the posture of the doctor console according to the operation information:
And storing the adjusted posture of the doctor control console, and respectively associating the adjusted posture of the doctor control console with the operator and the operation posture.
As an alternative to the control method of the doctor console, the doctor console further includes a display assembly, the height of which is adjustable;
the pose of the doctor console includes the height of the display assembly;
adjusting the posture of the doctor console according to the operation information includes:
and adjusting the height of the display assembly to enable the center position of the display assembly to be flush with eyes of an operator.
As an alternative to the control method of the doctor console, the scanning assembly is disposed on the display assembly, and the adjusting the height of the display assembly includes:
acquiring a distance B between the scanning assembly and the eyes of an operator;
acquiring a horizontal distance C between the scanning assembly and the eyes of an operator;
the height adjustment value a of the display assembly satisfies:
wherein A is 0 The front side of the scanning assembly is flush with the front side of the display assembly for a vertical distance between the scanning assembly and the center of the display assembly.
As an alternative to the control method of the doctor console, the doctor console includes a bracket operating platform, and the up-down position and the horizontal position of the bracket operating platform are adjustable;
the posture of the doctor control desk comprises the up-down position and the horizontal position of the bracket arm operation desk;
adjusting the posture of the doctor console according to the operation information includes:
and adjusting the upper and lower positions and the horizontal position of the bracket arm operation table.
As an alternative to the control method of the doctor console, the bracket operation console includes a telescopic bracket component;
adjusting the horizontal position of the bracket arm component comprises:
a coordinate system is established in the doctor console;
acquiring a horizontal distance C between eyes of an operator and the scanning assembly;
acquiring an abscissa H of a scanning assembly;
the horizontal length adjustment value D of the bracket arm part meets the following conditions:
D＝G-(C+H)；
where G is the abscissa of the free end of the bracket arm member.
As an alternative to the control method of the doctor console, the doctor console further includes a console pedal, and the console pedal includes a horizontally retractable control pedal;
the posture of the doctor console comprises the horizontal position of the control pedal;
Adjusting the posture of the doctor console according to the operation information further includes:
and adjusting the horizontal position of the control pedal.
As an alternative to the control method of the doctor console, the adjusting the horizontal position of the control pedal includes:
acquiring physical sign information of an operator;
acquiring pre-stored preset extension distances of the control pedal, which correspond to the characteristic information and the operation posture of the operator respectively;
and controlling the control pedal to stretch according to the preset stretching distance.
As an alternative to the control method of the doctor console, before adjusting the posture of the doctor console according to the operation information, the method further includes:
acquiring operator information;
judging whether the current operator has operation qualification according to the operator information;
when the current operator does not qualify for operation, the physician console locks to prevent operation;
when the current operator qualifies for operation, the physician console is unlocked for operation.
As an alternative to the control method of the doctor console, the determining whether the current operator qualifies for operation according to the operator information includes:
Comparing the acquired operator information with the input information in the information base;
when the acquired operator information is not matched with the input information, the current operator is not qualified for operation.
As an alternative to the control method of the doctor console, the obtained operator information is facial information or fingerprint information.
Another object of the present invention is to provide a doctor console, which can solve the problems of unchanged adjustment and poor adjustment effect of the doctor console.
To achieve the purpose, the invention adopts the following technical scheme:
a physician console, comprising:
a scanning assembly for acquiring an image of a human operation area on a front side thereof;
a controller in communication with the scanning assembly, the controller applying the method of controlling a physician console as claimed in any one of claims 1 to 16.
As an alternative to the doctor console described above, the scanning assembly is a 3D camera.
As an alternative to the above doctor console, the doctor console further comprises:
the control platform pedal comprises a base and a control pedal which can stretch and retract along the horizontal direction relative to the base;
The main lifting mechanism is arranged on the base;
the supporting arm operation table is arranged at the output end of the main lifting mechanism, and the main lifting mechanism can drive the supporting arm operation table to lift;
the fine adjustment lifting mechanism is arranged on the bracket arm operation table;
the display component is arranged at the output end of the fine adjustment lifting mechanism, and the scanning component is arranged on the display component;
the controller is respectively in communication connection with the main lifting mechanism and the fine adjustment lifting mechanism.
As an alternative to the doctor console, the support arm console is provided with a support arm height control assembly, and the support arm height control assembly is in communication connection with the controller, and the controller is configured to control the main lifting mechanism to drive the support arm console to rise and/or fall after the support arm height control assembly is triggered, and to control the main lifting mechanism to lock the height of the support arm console when the support arm height control assembly is not triggered.
As an alternative to the doctor console described above, the trailing arm height control assembly includes a contact sensor, and the controller is configured to control the main lift mechanism to drive the trailing arm console up after the contact sensor contacts the operator.
As an alternative to the doctor console, the bracket arm console includes:
a main operation table;
the bracket arm component is arranged on the main operation table and can stretch and retract along the horizontal direction;
the telescopic driving mechanism is arranged on the main operation table and is used for driving the bracket arm component to stretch and retract along the horizontal direction.
Still another object of the present invention is to provide a surgical system that solves the problems of single posture, limited posture and easy fatigue of the operator.
To achieve the purpose, the invention adopts the following technical scheme:
the surgical system comprises the mechanical arm and the doctor control console, wherein the doctor control console is used for controlling the mechanical arm.
The invention has the beneficial effects that:
according to the control method of the doctor console, which is provided by the invention, the operation information of an operator can be automatically judged, and the posture of the doctor console is adjusted according to the operation information, so that the comfort level of the operator is improved, and the fatigue level of the operator is reduced.
The operation information comprises the operation posture and the sign information of the operator, so that the posture of the doctor console can be better matched with the operator, and the operation of the operation box is more comfortable.
The operating postures of the operator comprise the standing posture and the sitting posture, the operator can operate in the standing posture or the sitting posture, and the flexibility is good.
The supporting arm operation table and the control table pedal can be adjusted according to the operation posture, operators with different heights are compatible, and convenience, comfort and accuracy of operation are improved.
Drawings
FIG. 1 is a flowchart of a method for controlling a doctor console according to an embodiment of the invention;
FIG. 2 is a flowchart of a first embodiment of the present invention for determining an operation gesture;
FIG. 3 is a flowchart II of a method for controlling a doctor console according to an embodiment of the present invention;
FIG. 4 is a flowchart of a method for controlling a doctor console according to a third embodiment of the present invention;
FIG. 5 is a flowchart of a method for controlling a doctor console according to a fourth embodiment of the present invention;
FIG. 6 is a schematic view of the structure of an operator operating a doctor console in a standing position provided by the present invention;
FIG. 7 is a schematic view of the structure of an operator operating a doctor console in a sitting position;
FIG. 8 is a flowchart of a method for controlling a doctor console according to a fifth embodiment of the invention;
Fig. 9 is a schematic structural diagram of a doctor console according to a sixth embodiment of the present invention.
In the figure:
1. a console pedal; 11. a base; 12. a control pedal; 2. a main lifting mechanism; 3. a bracket arm operating table; 31. a main operation table; 32. a bracket arm member; 4. a fine adjustment lifting mechanism; 5. a display assembly; 51. an auxiliary display; 52. a 3D display; 6. and a scanning assembly.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
In the description of the present invention, unless explicitly stated and limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.
In the description of the present embodiment, the terms "upper", "lower", "right", etc. orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are merely for convenience of description and simplicity of operation, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the invention. Furthermore, the terms "first," "second," and the like, are used merely for distinguishing between descriptions and not for distinguishing between them.
Example 1
As shown in fig. 1, the present embodiment provides a control method of a doctor console, which can automatically adjust the posture of the doctor console, so as to better adapt to the information of the current operator, and make the operator more comfortable when operating.
Specifically, the doctor console includes a scanning assembly 6 and a personnel operation area in which an operator operates the doctor console, and the scanning assembly 6 can acquire an image in the personnel operation area on the front side thereof. By judging whether the image includes a human body part, it is judged whether the operator is located at the operation position of the doctor console. If the image includes a site, the operator is already located at the personnel operating area of the physician console. If the image does not include a human body part, the operator is not in place and the doctor console does not execute the operating instructions.
In order to improve the accuracy of detecting whether the operator is in place, the image of the front side of the scanning assembly 6 may be acquired a plurality of times in succession, and if the human body part is included in each of the plurality of images in succession, the operator is judged to be in place. Alternatively, the determination may be made by acquiring images of the front side of the scanning assembly 6 three times in succession.
When the image includes a human body part, the current height of the scanning assembly 6 is obtained, and the operation information is obtained according to the image, the human body part obtained in the image and the current height of the scanning assembly 6, so that the posture of the doctor console is adjusted according to the operation information.
Wherein the operation information includes an operation posture of the operator and sign information of the operator. The posture of the doctor console is adjusted in combination with the operation posture and the sign information of the operator so that the posture of the doctor console can be more adapted to the current operator to alleviate the fatigue of the operator.
Alternatively, the operator may select a standing or sitting position while in place to enable the posture of the doctor console to be adjusted according to the operating posture.
Optionally, the physical sign information of the operator includes at least one of a screen line of sight, a height, a leg length, an arm length, a neck length, and a head circumference of the operator, so that the posture of the doctor console can be adjusted according to the actual needs of the actual operator.
In this embodiment, the posture of the operator is automatically determined based on the current height of the scanning unit 6 and the human body part in the image.
It will be appreciated that, on the basis of the constant height of the scanning assembly 6, the operator is located at a different location on the front side of the scanning assembly 6 when using different operating positions. For example, when the operator adopts a standing position, the human body part positioned at the front side of the scanning assembly 6 is relatively lower; when an operator adopts a sitting posture, the human body part positioned at the front side of the scanning assembly 6 is relatively upwards, the operation posture of the operator can be judged to be the sitting posture or the standing posture according to the height of the current scanning assembly 6 and the acquired human body part, and the judging method can be compatible with the operator in a certain height range, so that the judging result is more accurate.
After the operation posture of the operator is judged, the positions of the functional modules in the doctor control console are adjusted according to the operation posture, namely, the posture of the doctor control console is adjusted, so that each functional module can be more suitable for the current operation posture of the operator, the operator is more comfortable, and the fatigue degree caused by the uncomfortable operation posture is reduced.
In this embodiment, the positions of the functional modules in the doctor console can be automatically adjusted, and the operator is not required to manually adjust the positions of the functional modules and the operation posture, so that the relationship between the positions and the operation posture is more scientific, the adjustment is more efficient, and the fatigue degree of the operator is reduced.
In order to judge the operation posture of the operator according to the human body part and the current height, a plurality of preset height values are stored in the doctor control console, and each preset height value is correspondingly arranged with the human body part, wherein the preset height value is the height value of the human body part when the operator is in a sitting posture. In order to improve the accuracy of the preset height value, the height range of the human body part can be determined by recording the height of the corresponding human body part of an operator in a certain height range when the operator keeps sitting posture, and a proper height value is selected as the preset height value in the height range. For example, when the human body part is a shoulder, an operator with the comprehensive height in the range of 1.55m-1.9m can keep the height of the shoulder in a sitting position, and the range of the preset height value corresponding to the shoulder is defined.
As shown in fig. 2, when the operation posture of the operator is judged, when the height of the scanning unit 6 is not greater than the preset height value, that is, the height of the current human body part is not greater than the height of the human body part of the operator in the sitting posture state, the operator is in the sitting posture. When the height of the scanning assembly 6 is greater than the preset height value, that is, the height of the current human body part is higher than the height of the human body part in the sitting posture state of the operator, the operator is in the standing posture.
Optionally, the preset height value may be a maximum value of a height range in which the corresponding human body part is located.
Alternatively, the human body part in the image may be a head, a shoulder, a neck, or the like. Alternatively, when the human body part in the image is the head, the head is generally not higher than 1.4m and the corresponding preset height value can be within 1.3m-1.5mm when the operator with the height within the range of 1.55m-1.9m keeps sitting. Illustratively, the preset height value is 1.4m.
As shown in fig. 3, after the operation information is acquired, adjusting the posture of the doctor console according to the operation information specifically includes:
according to the operation posture, adjusting the doctor console to a preset initial posture corresponding to the operation posture;
and correcting the posture of the doctor console according to the physical sign information of the operator.
In this embodiment, the posture adjustment of the doctor console is divided into two steps, and the doctor console is first adjusted to a preset initial posture corresponding to the operation posture by the operation posture, and the preset initial posture is matched with the operation posture, so that the posture adjustment of the doctor console can be approximately matched with the operation habits of different operators, and the adjustment process of the final posture of the doctor console is simplified.
Because the sign information of different operators is different, in order to enable the gesture of the doctor control console to better adapt to the individual characteristics of the actual operators, after the doctor control console is adjusted to the preset initial gesture, the gesture of the doctor control console can be corrected according to the sign information of the operators, so that the operators are more comfortable in operation.
Example two
The present embodiment provides a control method of a doctor console, which is further improved on the basis of the first embodiment.
In the first embodiment, the posture of the doctor console is automatically adjusted, and the posture of the doctor console is adjusted according to the acquired operation posture and the sign information of the operator, so that the situation of being not matched with the use habit of the operator is unavoidable.
In order to solve the above-mentioned problem, in this embodiment, after the doctor console automatically corrects the posture, the operator may input an adjustment command through the doctor console to further adjust the posture of the doctor console, so as to better meet the needs of the operator.
Alternatively, the operator may input the adjustment instruction through an operation member such as a key, a sensor, a touch screen, or a joystick.
Example III
The present embodiment provides a control method of a doctor console, which is further improved on the basis of the first embodiment or the second embodiment.
In order to simplify the posture adjustment step before each operation of the operator and shorten the adjustment time, as shown in fig. 4, after the posture adjustment of the doctor console is finished, the doctor console automatically stores the adjusted posture, and associates the adjusted posture of the doctor console with the operator and the operation posture respectively, so that the doctor console stores posture data corresponding to different operation postures of each operator, and the doctor console is convenient to call.
Example IV
The present embodiment provides a control method of a doctor console, which is further improved on the basis of the first, second or third embodiment.
As shown in fig. 5 and 6, in this embodiment, the doctor console further includes a supporting arm console 3, the supporting arm console 3 is a main operation module of the doctor console, and an operator places an arm on the supporting arm console 3 when performing an operation. To further improve the comfort of the operator, adjusting the posture of the doctor console according to the operation posture includes adjusting the up-down position of the trailing arm operation table 3, i.e., the height of the trailing arm operation table 3. By adjusting the height of the bracket arm console 3 so that the arm of the operator is placed on the bracket arm console 3 at an appropriate bending angle, the operator can also conveniently touch the operating member on the main console 31.
In this embodiment, the supporting arm console 3 may be provided with a supporting arm height control assembly, and an operator may control the supporting arm console 3 to lift through the supporting arm height control assembly, so that the height of the supporting arm console 3 meets the requirement of the operator.
Optionally, the bracket arm height control assembly includes a contact sensor that is triggered upon contact with an operator to control and adjust the height of the bracket arm console 3.
Optionally, a suggested height value of the trailing arm console 3 corresponding to the operation posture is stored in the doctor console. After the operation posture of an operator is determined, the preset adjustment of the height of the supporting arm operation table 3 is realized by acquiring a stored suggested height value and lifting the supporting arm operation table 3 according to the stored suggested height value; the operator may then choose to further adjust the height of the trailing arm console 3 via the trailing arm height control assembly as desired.
Further, the doctor console further includes a display assembly 5, and adjusting the posture of the doctor console according to the operation posture includes adjusting the height of the display assembly 5.
In this embodiment, the scanning assembly 6 is disposed on the display assembly 5, and the image on the front side of the scanning assembly 6 is the image on the front side of the display assembly 5. In other embodiments, the scanning assembly 6 may be located at other positions, and the specific mounting location may be set as desired.
After confirming the operation posture of the operator, the height of the display assembly 5 is adjusted according to the operation posture so that the operator can more comfortably watch the display contents of the display assembly 5.
Specifically, when the height of the display assembly 5 is adjusted, the central position of the display assembly 5 is guaranteed to be flush with eyes of an operator, and cervical vertebra fatigue caused by looking up or overlooking of the operator is avoided.
In order to facilitate the automatic adjustment of the height of the display assembly 5 to a proper position by the doctor console, as shown in fig. 6 and 7, before the height of the display assembly 5 is adjusted, the distance B between the scanning assembly 6 and the eyes of the operator and the horizontal distance C between the scanning assembly 6 and the eyes of the operator are obtained, and then the height adjustment value a of the display assembly 5 satisfies the following formula:
wherein A is 0 Scanning assembly 6 is positioned at a vertical distance from the center of display assembly 5The front side of the display assembly 6 is flush with the front side of the display assembly 5.
By adjusting the height of the display assembly 5 in the above manner, the height of the display assembly 5 can be automatically adjusted without manual adjustment of an operator, and the phenomenon that the height of the display assembly 5 is unsuitable due to insufficient adjustment experience of the operator is avoided.
Optionally, before adjusting the height of the display assembly 5, there is a condition that the eyes of the operator are not scanned at the front side of the scanning assembly 6, and in order to obtain the distance information between the scanning assembly 6 and the eyes, the height of the display assembly 5 may be adjusted first. At this time, although the distance information between the eyes and the scanning unit 6 is not obtained, the human body part and the operation posture in the image obtained by scanning by the scanning unit 6 are determined, and the height adjustment direction of the display unit 5 can be obtained. For example, when the operator is sitting in the operation posture, the scanned human body part is a shoulder, and the display unit 5 is required to be lifted. The raising operation of the display assembly 5 is performed first, during which the scanning assembly 6 can scan the eyes of the operator, thereby obtaining distance information between the scanning assembly 6 and the eyes, and further obtaining the height adjustment value a of the display assembly 5 according to the distance.
It should be noted that, during the height adjustment process of the display assembly 5, the scanning assembly 6 continuously scans the distance information between the display assembly and the eyes, repeatedly calculates the height adjustment value a, and adjusts the height of the display assembly 5 according to the calculated height adjustment value a until a is equal to 0.
Alternatively, if the operator requires further adjustment of the height of the display assembly 5, this may be adjusted according to a first operator on the physician's console. The first operation piece can be a button, a knob or a touch screen.
Further, the hand-held arm console 3 includes a main console 31 and a retractable arm-holding member 32 provided on the main console 31, the main console 31 can drive the arm-holding member 32 to lift and lower, and an operator's arm is placed on the arm-holding member 32 to perform an operation.
For comfort of the operator, the horizontal position of the bracket member 32, i.e., the length of the bracket member 32, can be adjusted according to the operation posture in the present embodiment. Specifically, as shown in fig. 6 and 7, a coordinate system is established in the doctor console, the abscissa axis (Y axis) of which extends horizontally in the arrangement direction of the display assembly 5 and the operator, and the ordinate axis (X axis) extends vertically, and the origin of which is located on the bottom surface of the doctor console and is flush with the ground. According to this coordinate system, the abscissa H of the scanning unit 6 is acquired, and the horizontal distance between the eyes of the operator and the scanning unit 6 is acquired, and then the horizontal length adjustment value D of the bracket arm member 32 satisfies:
D＝G-(C+H)；
Where G is the abscissa of the free end of the bracket member 32.
The length of the arm member 32 is adjusted in accordance with the above arrangement, so that the free end of the arm member 32 is positioned directly below the eyes of the operator, i.e., the end of the arm member 32 after adjustment is the same as the abscissa of the eyes. The adjustment can satisfy that the arms of the operator can be better supported by the supporting arm members 32, so that the posture of the operator is more comfortable.
Alternatively, in order to make the extension and retraction of the bracket arm member 32 more flexible, a second operation member for controlling the extension and retraction of the bracket arm member 32 is provided on the main operation table 31, and an operator can control the extension and retraction of the bracket arm assembly through the second operation member. The second operation piece can be a button, a knob or a touch screen.
Further, the doctor console further includes a console pedal 1, and the console pedal 1 includes a base 11 and a control pedal 12 that is retractable in a horizontal direction with respect to the base 11 to be close to or away from the operator. In this embodiment, after determining the operation posture of the operator, adjusting the posture of the doctor console according to the operation posture further includes adjusting the extension distance of the control pedal 12, that is, adjusting the horizontal distance between the control pedal 12 and the operator, so as to facilitate the operator to tread the control pedal 12.
Specifically, after the sign information of the operator is obtained, a pre-stored preset extension distance of the control platen 12 corresponding to the sign information and the operation posture of the operator is obtained, and the control pedal 12 is controlled to extend and retract according to the preset extension distance, so that the operator can conveniently tread the control pedal 12.
For example, the sign information corresponding to the preset extension distance may be height or leg length.
In this embodiment, after the height of the main console 31 is adjusted, the height of the operator is obtained according to the adjusted height of the main console 31. It has been found that, as the height changes, the height of the main console 31, which is comfortable for the operator, also changes, and the height of the adjusted main console 31 are substantially linear. By recording and analyzing a large amount of test data, the higher the height, the greater the height adjusted by the main console 31, and the greater the distance the control pedal 12 protrudes toward the operator. Here, the control pedal 12 has an initial position in which the control pedal 12 is in a shortest length state.
In order to obtain the distance that the control pedal 12 needs to extend according to the height, the preset extension distance of the control pedal 12 is stored in the doctor console corresponding to different heights. After the height of the operator is obtained, the corresponding preset extension distance can be searched and obtained, and the control pedal 12 is controlled to extend and retract accordingly.
Alternatively, the main console 31 has an initial position, and the height thereof is at the lowest height when the main console 31 is located at the initial position. When determining the height of the operator, the height of the operator may be obtained based on the distance by which the main console 31 is raised after adjustment.
Illustratively, the relationship among the lift distance Δx of the main console, the operator 'S height S, and the preset extension distance L of the control pedal 12 in the sitting posture state is shown in table 1, and the relationship among the lift distance Δx of the main console, the operator' S height S, and the preset extension distance L of the control pedal in the standing posture state is shown in table 2.
TABLE 1
| ΔX(mm) | 0 | 25 | 50 | 75 | 100 | 125 | 150 | 250 |
| S(mm) | 155 | 160 | 165 | 170 | 175 | 180 | 185 | 190 |
| L(mm) | 35 | 30 | 25 | 20 | 15 | 10 | 5 | 0 |
TABLE 2
| ΔX(mm) | 0 | 25 | 50 | 75 | 100 | 125 | 150 | 175 |
| S(mm) | 155 | 160 | 165 | 170 | 175 | 180 | 185 | 190 |
| L(mm) | 35 | 30 | 25 | 20 | 15 | 10 | 5 | 0 |
Further, after the positions of the functional components are adjusted according to the operation posture, the adjusted positions of the functional components can be stored so as to facilitate the next call.
Optionally, after adjusting the height of the display assembly 5, the adjusted height of the display assembly 5 is obtained and stored, and the stored height of the display assembly 5 is associated with the operator and the operation posture, so that the height of the display assembly 5 can be directly called according to the stored information when the same operator operates next time, thereby simplifying the adjustment process.
Optionally, after adjusting the height of the bracket arm console 3, the adjusted height of the bracket arm console 3 is stored, and the stored height of the bracket arm console 3 is associated with the operator and the operation posture, so that the height of the bracket arm console 3 can be directly called according to the stored information when the same operator operates next time, thereby simplifying the adjustment process.
Optionally, after adjusting the length of the bracket arm part 32, the adjusted length of the bracket arm part 32 is stored, and the stored length of the bracket arm part 32 is associated with the operator and the operation posture, so that the length of the bracket arm part 32 can be directly called according to the stored information when the same operator operates next time, thereby simplifying the adjustment process.
Optionally, after adjusting the position of the control pedal 12, the abscissa of the free end of the adjusted control pedal 12 is stored, and the stored abscissa of the free end of the control pedal 12 is associated with the operator and the operation posture, so that the abscissa of the free end of the control pedal 12 can be directly called according to the stored information when the same operator operates next time, thereby simplifying the adjustment process.
In order to facilitate the confirmation and identification of different operators and correlate the stored information with the operators, the information of the operators, including the occupation, facial images, heights, fingerprints and the like of the operators, is recorded in the doctor control console so as to facilitate the identification of the operators.
Alternatively, the doctor console may identify the operator through information such as face recognition or fingerprint recognition.
Example five
The present embodiment provides a control method of a doctor console, which is further improved on the basis of the first embodiment, the second embodiment, the third embodiment or the fourth embodiment. In this embodiment, as shown in fig. 8, to avoid the operation by a non-operator, the method further includes acquiring operator information before adjusting the posture of the doctor console according to the operation posture, judging whether the current operator is qualified for operation according to the operator information, and when the current operator is not qualified for operation, locking the doctor console to prevent the operation, thereby ensuring the operation safety.
Specifically, the acquired operator information is compared with the input information in the information base, and when the acquired operator information is not matched with the input information, the current operator does not have operation qualification.
Correspondingly, when the current operator qualifies for operation, the doctor console is unlocked for operation. Specifically, the acquired operator information is compared with the input information in the information base, and when the acquired operator information is matched with the input information, the current operator does not qualify for operation.
In this embodiment, the operator information is acquired by the doctor console to further simplify the operator's operation. In this embodiment, the operator information is face information, which can be obtained by scanning by the scanning unit 6.
In some embodiments, the operator information may be fingerprint information, and the doctor console includes a fingerprint acquisition component through which the fingerprint information is acquired to determine whether the operator qualifies for operation.
In other embodiments, the operator information may be entered into the doctor console by the operator, and whether the operator is qualified for operation may be determined by comparing the information entered by the operator with the information entered in the information repository.
Alternatively, the operator information may be acquired after adjusting the posture of the doctor console. In particular, the operator's information may be obtained after adjusting the height of the display assembly 5 to facilitate obtaining the operator's facial information.
Example six
The embodiment provides a surgical system, which comprises a doctor control console and a mechanical arm, wherein the doctor control console can control the mechanical arm to operate. Wherein the doctor console adopts the control method of the doctor console in any one of the first to fifth embodiments.
Specifically, as shown in fig. 9, the doctor console includes a scanning assembly 6, a controller, a console pedal 1, a main lift mechanism 2, a trailing arm console 3, a fine lift mechanism 4, and a display assembly 5. The console pedal 1 includes a base 11 and a control pedal 12 that can extend and retract in a horizontal direction with respect to the base 11; the main lifting mechanism 2 is arranged on the base 11; the supporting arm operation table 3 is arranged at the output end of the main lifting mechanism 2, and the main lifting mechanism 2 can drive the supporting arm operation table 3 to lift; the fine adjustment lifting mechanism 4 is arranged on the bracket arm operation table 3; the display component 5 is arranged at the output end of the fine adjustment lifting mechanism 4, and the scanning component 6 is arranged on the display component 5; the controller is arranged on the control platform pedal 1 and is respectively in communication connection with the main lifting mechanism 2 and the fine adjustment lifting mechanism 4.
Further, the main lifting mechanism 2 comprises a screw-nut mechanism, the main lifting motor is connected with the screw, and the screw is driven to rotate to drive a nut in spiral fit with the screw to move up and down, and the nut is connected with the bracket operating platform 3 to drive the bracket operating platform 3 to lift.
The main lifting motor is connected with an encoder, can record the number of turns of the screw rod, and can acquire the lifting distance of the screw rod driving nut according to the pitch of the screw pair on the screw rod, so as to acquire the lifting height of the bracket arm operation table 3.
Alternatively, the bracket arm console 3 includes a main console 31, a bracket arm member 32, and a telescopic drive mechanism, the bracket arm member 32 being provided to the main console 31, the bracket arm member 32 being telescopic in the horizontal direction; the telescopic driving mechanism is provided on the main console 31, and is used for driving the bracket arm member 32 to extend and retract in the horizontal direction.
The supporting arm operating platform 3 is provided with a supporting arm height control component, the supporting arm height control component is in communication connection with a controller, and the controller is configured to control the main lifting mechanism 2 to drive the supporting arm operating platform 3 to ascend and/or descend after the supporting arm height control component is triggered, and to control the main lifting mechanism 2 to lock the height of the supporting arm operating platform 3 when the supporting arm height control component is not triggered.
The trailing arm height control assembly includes a contact sensor and the controller is configured to control the main lift mechanism 2 to drive the trailing arm console 3 up after the contact sensor contacts the operator.
Alternatively, the fine adjustment lifting mechanism 4 and the telescopic driving mechanism may be an air cylinder, a hydraulic cylinder, a screw nut transmission mechanism or a gear rack transmission mechanism. The control platform pedal 1 can also adopt an air cylinder, a hydraulic cylinder, a screw nut transmission mechanism or a gear rack transmission mechanism to realize the extension and retraction of the control pedal 12.
Alternatively, the scanning assembly 6 is a 3D camera, which can acquire images, and can also measure straight and horizontal distances to the eyes of the operator.
The 3D camera is a 3D motion sensing video camera. With a 3D camera (also called a depth camera), distance information of a photographing space can be detected by the camera. The distance between each point in the image and the camera can be accurately known through the data acquired by the 3D camera, and the three-dimensional space coordinates of each point in the image can be acquired by combining the coordinates of the point in the 2D image. The real scene can be restored through the three-dimensional coordinates, and the application of scene modeling and the like is realized.
The working principle of the 3D camera mainly comprises the following steps:
1. structured light (structured light), which typically employs an invisible laser of a specific wavelength as a light source, emits light with encoded information that is projected onto an object, and the distortion of the returned encoded pattern is calculated by an algorithm to obtain position and depth information of the object.
2. A time of flight method (TOF) utilizes measuring the time of flight of light to obtain distance. In short, the processed light is emitted, reflected back after hitting an object, and the back and forth time is captured, so that the distance to the object can be rapidly and accurately calculated due to the known light speed and the wavelength of the modulated light.
3. Binocular stereo vision (Binocular Stereo Vision), which is an important form of machine vision, is based on the parallax principle and utilizes imaging equipment to acquire two images of a measured object from different positions, and three-dimensional information of the object is acquired by calculating the position deviation between corresponding points of the images.
Optionally, the display assembly 5 comprises an auxiliary display 51, a 3D display 52 and 3D glasses, the auxiliary display 51 for displaying vital signs and characteristic indicators of the patient, the 3D display 52 for displaying a three-dimensional image of the surgical site, and the 3D glasses for viewing the three-dimensional image. The auxiliary display 51 and the 3D display 52 may be arranged side by side, for example, in a top-bottom arrangement or in a side-to-side arrangement. The 3D camera is disposed between the auxiliary display 51 and the 3D display 52.
It is to be understood that the above examples of the present invention are provided for clarity of illustration only and are not limiting of the embodiments of the present invention. Various obvious changes, rearrangements and substitutions can be made by those skilled in the art without departing from the scope of the invention. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.
Claims (23)
1. A control method of a doctor console, the doctor console including a scanning unit (6) and a personnel operation area, the scanning unit (6) being capable of acquiring an image of the personnel operation area on a front side thereof, characterized in that the control method of the doctor console includes:
acquiring an image of the front side of the scanning assembly (6) in a doctor's console;
acquiring a current height of a scanning assembly (6) when the image comprises a human body part;
acquiring operation information according to the image, the human body part in the image and the current height;
and adjusting the posture of the doctor control console according to the operation information.
2. The control method of a doctor console according to claim 1, wherein the operation information includes:
operator's operational posture and sign information of the operator.
3. The control method of a doctor console according to claim 2, wherein the physical sign information of the operator includes at least one of a screen viewing distance, a height, a leg length, an arm length, a neck length, and a head circumference of the operator.
4. A control method of a doctor console according to claim 3, wherein acquiring the operation posture of the operator includes:
According to the human body part, acquiring a preset height value corresponding to the human body part, wherein the preset height value is positioned in the height range of the human body part when an operator is in a sitting posture;
when the current height is not greater than a preset height value, the operator is sitting;
and when the current height is larger than a preset height value, the operator is standing.
5. The control method of a doctor console according to claim 2, wherein the adjusting the posture of the doctor console according to the operation information includes:
according to the operation posture, adjusting the doctor control console to a preset initial posture corresponding to the operation posture;
and correcting the posture of the doctor console according to the physical sign information of the operator.
6. The control method of a doctor console according to any one of claims 1 to 5, characterized by further comprising, after the adjusting of the posture of the doctor console according to the operation information:
and adjusting the posture of the doctor console according to the acquired adjustment instruction input by the operator.
7. The control method of a doctor console according to any one of claims 1 to 5, characterized by further comprising, after the adjusting of the posture of the doctor console according to the operation information:
And storing the adjusted posture of the doctor control console, and respectively associating the adjusted posture of the doctor control console with the operator and the operation posture.
8. The control method of a doctor console according to any one of claims 1 to 5, characterized in that the doctor console further comprises a display assembly (5), a height of the display assembly (5) being adjustable;
the pose of the doctor console comprises the height of the display assembly (5);
adjusting the posture of the doctor console according to the operation information includes:
the height of the display assembly (5) is adjusted so that the center position of the display assembly (5) is flush with the eyes of the operator.
9. The method of controlling a physician console according to claim 8, wherein the scanning assembly (6) is provided on the display assembly (5), and wherein adjusting the height of the display assembly (5) comprises:
acquiring a distance B between the scanning assembly (6) and the eyes of the operator;
acquiring a horizontal distance C between the scanning assembly (6) and the eyes of the operator;
the height adjustment value A of the display assembly (5) satisfies:
wherein A is 0 The front side of the scanning assembly (6) is flush with the front side of the display assembly (5) for a vertical distance of the scanning assembly (6) from the center of the display assembly (5).
10. The control method of a doctor console according to any one of claims 1 to 5, characterized in that the doctor console includes a bracket operating table (3), and the up-down position and the horizontal position of the bracket operating table (3) are adjustable;
the posture of the doctor control desk comprises the up-down position and the horizontal position of the bracket arm operation desk (3);
adjusting the posture of the doctor console according to the operation information includes:
and adjusting the up-down position and the horizontal position of the bracket arm operation table (3).
11. A control method of a doctor console according to claim 10, characterized in that the trailing arm console (3) includes a telescopic trailing arm member (32);
adjusting the horizontal position of the bracket arm member (32) includes:
a coordinate system is established in the doctor console;
acquiring a horizontal distance C of an operator's eye from the scanning assembly (6);
acquiring an abscissa H of the scanning assembly (6);
the horizontal length adjustment value D of the bracket arm part (32) satisfies the following conditions:
D＝G-(C+H)；
wherein G is the abscissa of the free end of the bracket arm member (32).
12. The control method of a doctor console according to any one of claims 1 to 5, characterized in that the doctor console further comprises a console pedal (1), the console pedal (1) comprising a horizontally telescopic control pedal (12);
The posture of the doctor console includes the horizontal position of the control pedal (12);
adjusting the posture of the doctor console according to the operation information further includes:
adjusting the horizontal position of the control pedal (12).
13. The method of controlling a doctor console as set forth in claim 12, wherein the adjusting the horizontal position of the control pedal (12) includes:
acquiring physical sign information of an operator;
acquiring pre-stored preset extension distances of the control pedal (12) corresponding to the characteristic information and the operation posture of the operator respectively;
and controlling the control pedal (12) to stretch according to the preset stretching distance.
14. The control method of a doctor console according to any one of claims 1 to 5, characterized by further comprising, before adjusting the posture of the doctor console according to the operation information:
acquiring operator information;
judging whether the current operator has operation qualification according to the operator information;
when the current operator does not qualify for operation, the physician console locks to prevent operation;
when the current operator qualifies for operation, the physician console is unlocked for operation.
15. The control method of a doctor console according to claim 14, wherein the judging whether the current operator is qualified for operation based on the operator information includes:
comparing the acquired operator information with the input information in the information base;
when the acquired operator information is not matched with the input information, the current operator is not qualified for operation.
16. The control method of a doctor console according to claim 14, wherein the obtained operator information is face information or fingerprint information.
17. A doctor console, comprising:
-a scanning assembly (6), the scanning assembly (6) being adapted to acquire an image of a personnel operating area of a front side thereof;
a controller in communication with the scanning assembly (6), the controller applying the control method of the doctor console according to any of claims 1-16.
18. Doctor console according to claim 17, characterized in that the scanning assembly (6) is a 3D camera.
19. The physician console of claim 17, further comprising:
the control desk pedal comprises a base (11) and a control pedal (12) which can stretch and retract along the horizontal direction relative to the base (11);
A main lifting mechanism (2) arranged on the base (11);
the supporting arm operation table (3) is arranged at the output end of the main lifting mechanism (2), and the main lifting mechanism (2) can drive the supporting arm operation table (3) to lift;
the fine adjustment lifting mechanism (4) is arranged on the bracket arm operation table (3);
the display assembly (5) is arranged at the output end of the fine adjustment lifting mechanism (4), and the scanning assembly (6) is arranged on the display assembly (5);
the controller is respectively in communication connection with the main lifting mechanism (2) and the fine adjustment lifting mechanism (4).
20. Doctor console according to claim 19, characterized in that the trailing arm console (3) is provided with a trailing arm height control assembly, which is communicatively connected to the controller, which is configured to control the main lifting mechanism (2) to drive the trailing arm console (3) up and/or down after the trailing arm height control assembly is triggered, and to control the main lifting mechanism (2) to lock the height of the trailing arm console (3) when the trailing arm height control assembly is not triggered.
21. The doctor console as set forth in claim 20, wherein the trailing arm height control assembly includes a contact sensor, the controller being configured to control the main lift mechanism (2) to drive the trailing arm console (3) up after the contact sensor contacts an operator.
22. Doctor control console according to claim 19, characterized in that the trailing arm console (3) comprises:
a main operation table (31);
a bracket member (32) provided on the main operation table (31), the bracket member (32) being capable of extending and contracting in the horizontal direction;
and the telescopic driving mechanism is arranged on the main operation table (31) and is used for driving the bracket arm component (32) to stretch along the horizontal direction.
23. A surgical system comprising a robotic arm and a doctor console according to any one of claims 17-22 for controlling the robotic arm.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210214684.XA CN116763440A (en) | 2022-03-07 | 2022-03-07 | Control method of doctor control console, doctor control console and operation system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210214684.XA CN116763440A (en) | 2022-03-07 | 2022-03-07 | Control method of doctor control console, doctor control console and operation system |
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| CN116763440A true CN116763440A (en) | 2023-09-19 |
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| CN202210214684.XA Pending CN116763440A (en) | 2022-03-07 | 2022-03-07 | Control method of doctor control console, doctor control console and operation system |
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| CN (1) | CN116763440A (en) |
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- 2022-03-07 CN CN202210214684.XA patent/CN116763440A/en active Pending
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