CN113779533A - Operator identity recognition method, device and system for medical robot - Google Patents
Operator identity recognition method, device and system for medical robot Download PDFInfo
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Abstract
The application relates to an operator identity identification method, device and system for a medical robot. The method comprises the following steps: collecting the biological characteristics to be compared of an operator; comparing the biological characteristics to be compared with standard biological characteristics; obtaining operation qualification corresponding to the successfully compared standard biological characteristics; and judging whether the operator has the authority to operate the medical robot according to the operation qualification, and outputting a judgment result. The method can accurately identify the identity.
Description
Technical Field
The application relates to the technical field of artificial intelligence, in particular to an operator identity identification method, device and system for a medical robot.
Background
The medical robot is an intelligent service robot and is used for medical treatment or auxiliary medical treatment of hospitals and clinics. It can be used to make operation plan, determine action program according to actual condition and change action into operation mechanism movement.
Conventionally, identification of a user who uses a medical robot is confirmed by inputting an identification mark or the like.
However, the current method of identity confirmation by inputting an identity identifier cannot avoid that after the identity identifier is input, other people replace the medical robot, and cannot avoid that a doctor who has not received training takes the identity identifier by an abnormal means to use the medical robot, so that the identity confirmation of a user using the medical robot at present has a defect.
Disclosure of Invention
In view of the above, it is necessary to provide an operator identification method, device and system for a medical robot, which can accurately identify the operator.
An operator identification method for a medical robot, the method comprising:
collecting the biological characteristics to be compared of an operator;
comparing the biological characteristics to be compared with standard biological characteristics;
obtaining operation qualification corresponding to the successfully compared standard biological characteristics;
and judging whether the operator has the authority to operate the medical robot according to the operation qualification, and outputting a judgment result.
In one embodiment, the acquiring the to-be-compared biological features of the operator includes at least one of the following:
iris characteristics of an operator are collected at irregular time or according to a preset collection time interval through iris collection equipment arranged in an eyepiece of the medical robot;
acquiring fingerprint characteristics of an operator at irregular time or according to a preset acquisition time interval by using fingerprint acquisition equipment arranged on a control mechanism of the medical robot;
acquiring the face characteristics of an operator through face recognition equipment arranged on a medical robot at variable time or according to a preset acquisition time interval;
blood characteristics of an operator are collected at irregular time or at preset collection time intervals by a blood characteristic collection apparatus installed at a manipulation mechanism of a medical robot.
In one embodiment, before the comparing the biometric feature to be compared with the standard biometric feature, the method further includes:
collecting standard biological characteristics of an operator;
generating configuration information according to the standard biological characteristics and the operator identification;
acquiring training data corresponding to the operator;
and judging whether the operator has operation qualification according to the training data, if so, adding the operation qualification corresponding to the standard biological characteristics in the configuration information.
In one embodiment, the comparing the biometric characteristic to be compared with a standard biometric characteristic includes:
comparing the biological characteristics to be compared with standard biological characteristics acquired at least once;
calculating the comparison success rate of the biological characteristics to be compared and the standard biological characteristics in the comparison of preset times;
and when the comparison success rate meets the requirement, judging that the comparison of the biological characteristics to be compared and the standard biological characteristics is successful.
In one embodiment, the method further comprises:
when the operator does not have the authority of operating the medical robot, outputting prompt information of which the identity does not meet the requirement; and modifying the acquisition rule of the biological characteristics to be compared.
In one embodiment, the method further comprises:
when the operator has the authority of operating the medical robot, calculating according to the biological features to be compared to obtain the current state of the operator;
and if the current state does not meet the operation requirement, outputting state prompt information.
In one embodiment, the calculating the current state of the operator according to the biometric features to be compared includes at least one of:
calculating to obtain the current state of the operator according to the eyelid movement characteristics and/or pupil focusing position of the operator;
and calculating the current state of the operator according to the blood characteristics in the blood vessel.
In one embodiment, the method further comprises:
when the operator has the right to operate the medical robot, acquiring historical operation information corresponding to the successfully compared standard biological characteristics;
and adjusting the posture of the medical robot according to the historical operation information.
In one embodiment, the adjusting the posture of the medical robot according to the historical operation information includes:
acquiring an operator identification corresponding to the successfully compared standard biological characteristics;
outputting prompt information of the operator identification and whether to adjust the posture of the medical robot;
and when receiving instruction information for adjusting the posture of the medical robot, adjusting the posture of the medical robot according to the instruction information and the historical operation information.
An operator identification device for a medical robot, the device being applied before and/or during use of the medical robot, the device comprising:
the acquisition module is used for acquiring the biological characteristics to be compared of the operator;
the comparison module is used for comparing the biological characteristics to be compared with standard biological characteristics;
the operation qualification acquiring module is used for acquiring operation qualification corresponding to the successfully compared standard biological characteristics;
and the permission judging module is used for judging whether the operator has the permission to operate the medical robot according to the operation qualification.
An operator identification system for a medical robot, the system comprising:
a medical robot;
the biological characteristic acquisition equipment is arranged on the medical robot or is in communication connection with the medical robot and is used for acquiring biological characteristics to be compared of an operator;
and the processor is respectively communicated with the medical robot and the biological characteristic acquisition equipment, and is used for judging whether an operator has the authority to operate the medical robot according to the operator identity identification method for the medical robot in any one of the right 1 to the right 10.
In one embodiment, the biological characteristic acquisition device comprises one or more of an iris acquisition device installed in an ocular lens of the medical robot, a fingerprint acquisition device installed on a control mechanism of the medical robot, a face recognition device installed on the medical robot and a blood characteristic acquisition device installed on the control mechanism of the medical robot.
A computer device comprising a memory storing a computer program and a processor implementing the steps of the method described above when executing the computer program.
According to the operator identity recognition method, the device and the system for the medical robot, before and/or during use of the medical robot, the biological characteristics to be compared of the operator can be collected through the biological characteristic collection equipment, then the biological characteristics to be compared are compared with the standard biological characteristics to determine the corresponding operation qualification, so that whether the operator has the authority to operate the medical robot is judged.
Drawings
FIG. 1 is a schematic diagram of an operator identification system for a medical robot in one embodiment;
FIG. 2 is a block diagram of an operator identification system for a medical robot in one embodiment;
fig. 3 is a flow chart illustrating an operator identification method for a medical robot according to an embodiment;
fig. 4 is a flowchart illustrating an operator identification method of the medical robot according to another embodiment;
FIG. 5 is a flow diagram of pre-processing steps in one embodiment;
FIG. 6 is a flowchart of step S304 in the embodiment shown in FIG. 3;
FIG. 7 is a flow diagram of the state detection steps in one embodiment;
FIG. 8 is a flow diagram that illustrates the pose adjustment steps, in one embodiment;
fig. 9 is a detailed flowchart of an operator identification method for a medical robot in accordance with still another embodiment;
fig. 10 is a block diagram showing the configuration of an operator identifying apparatus for a medical robot in one embodiment;
FIG. 11 is a diagram illustrating an internal structure of a computer device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The operator identification method for the medical robot can be applied to an operator identification system for the medical robot shown in fig. 1. The operator identity recognition system for the medical robot comprises the medical robot, a biological characteristic acquisition device and a processor, wherein the biological characteristic acquisition device is installed on the medical robot or is not installed on the medical robot, optionally, when the biological characteristic acquisition device is installed on the medical robot, the biological characteristic acquisition device comprises one or more of an iris acquisition device 102 installed in an eyepiece 101 of the medical robot, a control mechanism 103 installed on the medical robot, such as a fingerprint acquisition device 104 on an operation master hand, a face recognition device installed on the medical robot and a blood characteristic acquisition device installed on the control mechanism of the medical robot; when the biological characteristic acquisition equipment is not installed on the medical robot, the biological characteristic acquisition equipment is in communication connection with the medical robot, and the biological characteristic acquisition equipment is an independent acquisition device and is connected to the medical robot or is transmitted to a medical robot database through a USB flash disk, a network cable, a network port and the like. As shown in fig. 1, a program for an operator identification method of a medical robot, which can control a biometric collecting apparatus mounted on the medical robot, is stored in a processor. Optionally, a processor may be provided for each biometric acquisition device separately, or multiple biometric acquisition devices correspond to the same processor. The processor acquires the biological characteristics to be compared of the operator through biological characteristic acquisition equipment; comparing the biological characteristics to be compared with standard biological characteristics; obtaining operation qualification corresponding to the successfully compared standard biological characteristics; and judging whether the operator has the authority to operate the medical robot according to the operation qualification. Because the biological characteristics can be collected before and/or during use and cannot be acquired by other people, the defects of falseness and the like do not exist, and the identity identification is more accurate.
As shown in fig. 2, each of the biometric feature capturing devices and the corresponding processor thereof may be independent or share one processor, if the biometric feature capturing devices and the corresponding processors share one processor, each processor separately processes the biometric features to be compared, which are captured by the biometric feature capturing devices, and outputs the result, and if the biometric features to be compared share one processor, the processors may process the biometric features to be compared, which are captured by the biometric feature capturing devices, in parallel, respectively.
Taking a single processor as an example for explanation, the processor corresponding to the iris feature acquisition device may include at least one of processing for performing identity recognition according to the biometric features to be compared, processing for performing operator state detection according to the biometric features to be compared, and processing for performing robot posture optimization according to the biometric features to be compared. The processor of the fingerprint acquisition device may include at least one of a process of performing identity recognition according to the biometric features to be compared, a process of performing robot pose optimization according to the biometric features to be compared, and the like.
The iris feature acquisition equipment and the corresponding processor are called as an iris recognition system, the fingerprint acquisition equipment and the corresponding processor are called as a fingerprint recognition system, and the iris recognition system is arranged in an eyepiece of the medical robot; the fingerprint identification system is arranged on an operating mechanism of the medical robot, such as an operating master hand;
the iris identification system comprises an identity authentication module, a state monitoring module and a habit optimization module; the identity authentication module authenticates the identity of an operator in an untimely mode through an iris recognition system, and the process comprises authority examination; the authority examination refers to determining whether the operator has operation qualification or not by comparing the job title, experience and the like of the operator; the state monitoring module monitors the state of the operator in an untimely mode through an iris recognition system, prompts the operator to be in a sleepy or uncomfortable state through judging the characteristics of eyeballs and the like, and makes corresponding prompts or cautions; the habit optimization module records the use habits of the operator according to identity authentication, and can optimize the use experience through setting tracing, such as optimizing the posture of an operator console.
The fingerprint identification system comprises an identity authentication module and a habit optimization module; the function of the system is similar to that of an iris identification system, the identity authentication is carried out on the identity of an operator in an irregular mode through a fingerprint identification system, authority examination is included in the process, and the dual safety of the identity authentication is guaranteed; the habit optimization function means that the use habits of an operator are recorded according to identity authentication, and the use experience can be optimized through setting tracing, for example, the posture of an operator console is optimized.
Specifically, in the present embodiment, as shown in fig. 1 and fig. 2 in combination, the medical robot of the present embodiment includes a master operation device and a slave operation device, wherein a doctor controls the master operation device to realize control of the slave operation device. The iris characteristic acquisition equipment is installed on the eyepiece of the main operation equipment, so that when a doctor observes through the eyepiece during operation, the iris characteristic of the doctor can be acquired in real time through the iris characteristic acquisition equipment in a non-sensitive manner. Similarly, the operating mechanism of the main operating device is provided with the fingerprint acquisition device, so that when a doctor operates the operating mechanism, the fingerprint characteristics of the doctor can be acquired in real time through the fingerprint acquisition device without sensing, and subsequent identity comparison is continued, so that the identity of the doctor is identified.
In one embodiment, as shown in fig. 3, there is provided an operator identification method for a medical robot, which is described by taking the method as an example applied to a processor in fig. 1, and includes the following steps:
s302: and collecting the biological characteristics to be compared of the operator.
Specifically, the specific limitation of the biometric device may be as described above, wherein the biometric device, if installed on the medical robot, may include one or more of an iris collecting device installed in an eyepiece of the medical robot, a fingerprint collecting device installed in a manipulator of the medical robot, a face recognition device installed on the medical robot, and a blood feature recognition device installed in the manipulator of the medical robot, so that the biometric features to be compared may include iris features of the operator collected through the iris collecting device installed in an eyepiece of the medical robot at irregular or preset collecting time intervals, fingerprint features of the operator collected through the fingerprint collecting device installed in the manipulator of the medical robot at irregular or preset collecting time intervals, fingerprint features of the operator collected through the face recognition device installed on the medical robot at irregular or preset collecting time intervals One or more of human face characteristics and blood characteristics collected at irregular time or according to preset collection time intervals by a blood characteristic recognition device installed on a control mechanism of the medical robot.
The biological characteristic acquisition equipment arranged on the medical robot is used for acquiring, so that the identity of a doctor can be identified and corresponding data can be recorded at any time under the condition of not influencing the operation of the doctor, and other people are effectively prevented from replacing the medical robot; in addition, the authority is set based on the operation qualification of the operation training, and the safety is improved.
S304: and comparing the biological characteristics to be compared with the standard biological characteristics.
Specifically, the standard biometric features may be collected and stored in advance, for example, the standard biometric features of each operator are collected and stored in the database after being associated with the operator identification and the corresponding operation qualification. The collection of the biological features to be compared can be collected through biological feature collection equipment installed on the medical robot, or can be collected through biological feature collection equipment independent of the medical robot, for example, the biological features are collected through the independent equipment, and then the biological features are transmitted to the medical robot through a USB flash disk, a network cable, a network port and the like.
Thus, after the processor acquires the biological features to be compared, the biological features to be compared are compared with the standard biological features stored in the database. Preferably, when the processor performs comparison, the processor may first acquire the type of the biometric feature to be compared, and then compare the type of the biometric feature with the standard biometric feature of the same type in the database.
Preferably, the standard biological characteristic is a biological characteristic of an operator corresponding to the current operation of the medical robot, the standard biological characteristic is acquired in advance, and an association relationship is established between the acquired standard biological characteristic and the medical robot in advance, for example, a biological characteristic corresponding to the operator required by the current operation of the medical robot is configured in advance, so that during comparison, the processor is compared with only the standard biological characteristic of the operator corresponding to the current operation of the medical robot, the comparison amount can be greatly reduced, and if the comparison fails, for example, after comparison is performed for multiple times, the comparison success rate is lower than a certain value, the processor outputs an indication that the operator is replaced. The processor compares the biological characteristics to be processed with all standard biological characteristics in the database so as to carry out qualification examination on the operator and judge whether the operator has operation qualification.
S306: and acquiring the operation qualification corresponding to the successfully compared standard biological characteristics.
Specifically, the operation qualification, which is a qualification for characterizing that the operator has to operate the corresponding medical robot, may be also stored in the database in advance, and may be understood as qualification, operation training number, machine familiarity, and the like. Optionally, a plurality of operation qualification types may be set in the database according to the type of the medical robot, and whether the operator has the operation qualification is represented by a flag bit or the like, for example, the processor may acquire the operation qualification corresponding to the successfully-compared standard biological feature, and then query whether the corresponding operation qualification has according to the type of the current medical robot.
S308: and judging whether the operator has the authority to operate the medical robot according to the operation qualification.
Specifically, if the processor acquires the operation qualification of the type of the corresponding medical robot, it indicates that the operator has the authority to operate the medical robot, and the medical robot may be operated.
Optionally, if the medical robot is judged by the method before use, and it is determined that the operator has no operation authority, the medical robot may be re-verified, and if the medical robot has no operation authority after multiple verifications, the medical robot is locked. If the medical robot is used, the method judges to determine that the operator has no operation authority, the operation authority can be verified again, if the operator still has no operation authority after verification for many times, alarm information is output and recorded, and the medical robot is not locked in order to ensure normal operation.
Specifically, in practical applications, with reference to fig. 4, before an operation, the medical robot performs a self-check to ensure the safety of the medical robot, and then performs an identity confirmation result, before the operation, the operation qualification of the operator is verified by the above method, if the operation qualification passes, the operation is started, and in the process of the operation, the to-be-compared biometric features of the operator are collected irregularly, and the operation qualification of the operator is verified by the above method.
According to the operator identity recognition method for the medical robot, before and/or during use of the medical robot, the biological characteristics to be compared of an operator can be collected through the biological characteristic collection equipment installed on the medical robot, then the biological characteristics to be compared are compared with the standard biological characteristics to determine the corresponding operation qualification, and therefore whether the operator has the authority to operate the medical robot is judged.
In one embodiment, referring to fig. 5, fig. 5 is a flow chart of a preprocessing step in one embodiment, prior to comparing the biometric to be compared to the standard biometric, the preprocessing step comprising:
s502: standard biometric characteristics of the operator are collected.
Specifically, before the operation, the operator needs to be trained professionally, and a database is established according to the serial number, the biological characteristics and the like of the operator, wherein the processor collects the standard biological characteristics of the operator through the biological characteristic collecting device during the training.
S504: configuration information is generated based on the standard biometric characteristic and the operator identification.
Specifically, the operator identifier may be an operator number uniquely determining the operator, so that the standard biometric feature and the operator identifier are associated to generate configuration data, which is stored in the database, so as to facilitate subsequent query, and optionally, in other embodiments, the configuration information may be backed up.
S506: and acquiring training data corresponding to the operator.
Specifically, the training data is data for recording operator training, such as training data for surgical simulation using the robot and training data for surgical operation, including but not limited to training time, training level, etc., wherein the training data may be inputted into the database by a professional operator.
S508: and judging whether the operator has operation qualification according to the training data, and if so, adding the operation qualification corresponding to the standard biological characteristics in the configuration information.
Specifically, the determination of whether the operator qualifies for operation based on the training data may be automatically determined based on rules pre-stored in the processor, or may be input after being audited by a professional operator. The automatic judgment can be calculated according to the training time, the training level and the like.
In the embodiment, the basic information and the biological characteristics of the operators are collected, the related database is established, the training effect and the operation qualification of each operator are recorded, and a foundation is laid for the subsequent identity recognition.
In one embodiment, referring to fig. 6, fig. 6 is a flowchart of step S304 in the embodiment shown in fig. 3, in which the step S304 of comparing the to-be-compared biometric characteristic with the standard biometric characteristic includes: comparing the biological characteristics to be compared, which are acquired at least once, with the standard biological characteristics; calculating the comparison success rate of the biological characteristics to be compared and the standard biological characteristics in the comparison of the preset times; and when the comparison success rate meets the requirement, judging that the comparison of the biological characteristics to be compared and the standard biological characteristics is successful.
Specifically, after the biometric features are acquired by the biometric feature acquisition device, the processor compares the acquired biometric features to be compared with standard biometric features in the database to determine whether the operator is qualified for operation, if the operator is qualified for operation, the processor continues to acquire the next biometric features to be compared, if the operator is not qualified for operation, the processor acquires the biometric features to be compared multiple times, for example, the biometric features to be compared are acquired according to preset times within a preset time interval, and compares the acquired biometric features to be compared with the standard biometric features multiple times, and then calculates a comparison success rate, wherein the comparison success rate is the number of times the operator is qualified for operation/the preset times, and if the success rate, for example, meets the requirement, for example, is greater than a certain value, the comparison is successful, so that the next biometric features to be compared are continuously acquired. Optionally, when the operator does not have the right to operate the medical robot, the prompt information indicating that the identity does not meet the requirement is output, that is, if the success rate does not meet the requirement, alarm information is output, for example, the alarm information is displayed by a display or prompted by a preset device or prompted by a buzzer or the like, and the prompting manner is not particularly limited.
It should be noted that if the operator is determined to be qualified for operation this time, the operator may be determined to be qualified for operation in a loop at irregular time or at long intervals. If the operator does not have the operation qualification at this time, the collection rule of the to-be-compared biological features may be modified, for example, the time interval of each collection may be shortened, or the preset number of times of to-be-compared biological features may be collected regularly or irregularly within a preset time period, so as to prevent false alarm caused by errors due to system errors.
In the embodiment, the comparison success rate is determined through multiple comparisons, and whether to alarm or not is further determined, so that the alarm accuracy is ensured, and false alarm is avoided.
In one embodiment, after determining whether the operator has the authority to operate the medical robot according to the operation qualification, the method includes: when the operator has the authority to operate the medical robot, calculating according to the biological features to be compared to obtain the current state of the operator; and if the current state does not meet the operation requirement, outputting state prompt information.
Specifically, the current state of the operator is obtained by calculating the to-be-compared biometric features of the operator during or before the operation, and optionally, the current state of the operator is obtained by calculating according to the to-be-compared biometric features, and the current state of the operator includes at least one of the following: calculating to obtain the current state of the operator according to the eyelid movement characteristics and/or the pupil focusing position; and calculating the current state of the operator according to the blood characteristics in the blood vessel.
Specifically, the current state includes a normal state and an abnormal state, and the abnormal state may be a tired fatigue state, where the processor may transmit eye features of an operator through an iris collecting device of an eyepiece, such as an iris sensor, to perform analysis, recognize blinking features and a pupil focusing position, analyze the tired fatigue state of the operator by using an algorithm, and perform operation prompting if the state is not good, such as displaying operator state information through an auxiliary display, or sending voice prompting information through a buzzer or the like, and specifically, see fig. 7.
In one embodiment, before the medical robot is used, after the operator is judged whether to have the authority to operate the medical robot according to the operation qualification, the method comprises the following steps: when the operator has the authority to operate the medical robot, acquiring historical operation information corresponding to the successfully compared standard biological characteristics; and adjusting the posture of the medical robot according to the historical operation information.
Specifically, as shown in fig. 8, before the operation, the medical robot is powered on for self-inspection, and then the operator operates the medical robot, so that the biological feature acquisition device can acquire the biological feature to be compared and compare the biological feature with the standard biological feature to acquire historical operation information, and the processor adjusts the posture of the medical robot according to the historical operation information.
Optionally, adjusting the posture of the medical robot according to the historical operation information includes: acquiring an operator identification corresponding to the successfully compared standard biological characteristics; outputting prompt information of operator identification and whether to adjust the posture of the medical robot; and when receiving the instruction information for adjusting the posture of the medical robot, adjusting the posture of the medical robot according to the instruction information and the historical operation information.
Specifically, in order to avoid misoperation, that is, to adjust the posture of the medical robot multiple times, the processor may output an operator identifier of the operator, for example, an operator name and corresponding prompt information for adjusting the posture of the medical robot, after acquiring the historical operation information, so that the operator may determine whether to adjust the posture of the medical robot, and if so, the processor adjusts the posture of the medical robot according to the historical operation information, otherwise, the processor does not adjust the posture of the medical robot.
Specifically, in order to ensure that those skilled in the art can fully understand the technical solution, referring to fig. 9, fig. 9 is a specific flowchart of an operator identification method for a medical robot in yet another embodiment, in which a biometric acquisition device is described by taking a fingerprint acquisition device and an iris acquisition device as examples, and specifically includes:
firstly, a database is generated, so that the standard biological characteristics of an operator operating the medical robot and the corresponding operation qualification are stored in the database, and when the standard biological characteristics are compared subsequently, the standard biological characteristics are directly compared with the standard biological characteristics in the database.
In the actual use process, the medical robot firstly carries out self-checking so as to ensure the safety of the medical robot.
Then, the biological characteristics to be compared are collected through the fingerprint identification device and the iris identification device, for example, an operator extracts the characteristic value of the fingerprint through a fingerprint device of an operation handle and compares the characteristic value with the standard fingerprint in the database so as to verify the operation qualification, and if the operation qualification fails to be checked, the operation qualification needs to be verified again; if the medical robot passes the operation qualification review, the operation habit can be traced through the identity of the operator, so that the medical robot is automatically adjusted to the preferred posture of the operator, and then the medical robot enters a normal operation stage. In addition, the biological characteristics to be compared can be acquired through iris recognition equipment arranged at an ocular before operation, and compared with a robot authorization database, and the operation habit can be traced back through the identity of an operator, so that the medical robot is automatically adjusted to the preferred posture of the operator, then the medical robot enters a normal operation stage, and a non-registered operator gives an alarm and makes a record. It should be noted that the operation qualification may be verified by only one of the fingerprint recognition device or the iris recognition device or by both of them before the operation, and is not limited in particular.
In practical operation, the processor also collects the biological characteristics to be compared according to the fingerprint identification device and the iris identification device so as to carry out irregular identity identification. For example, the iris recognition device and the fingerprint recognition device perform multi-mode and irregular recognition on an operator, and if the recognition is the same as the standard biological characteristics registered before the operation, the normal operation is performed; if the operation qualification is met, the operator before non-operation is prompted and recorded; if the operation qualification is not met, an alarm is given to the unqualified operator, and the alarm is recorded. The operation is normally carried out whether the operator is the preset operator before the operation or not, and only prompting or alarming and recording are carried out.
It should be noted that the processor also records the operation habit of the operator through the fingerprint identification device and the iris identification device during the operation process, optimizes the operation experience according to the algorithm in the system, and adjusts the device through the biological characteristics.
In the operation process, the medical robot transmits eyeball characteristics of an operator to be analyzed through the eyepiece iris sensor, the blinking characteristics and the pupil focusing position are identified, the tired fatigue state of the operator is analyzed through an algorithm, and if the state is not good, operation prompt is performed, for example, the state information of the operator is displayed through an auxiliary display, or voice prompt information is sent out through a buzzer and the like.
In addition, after the operation is finished, the operation process is recorded and uploaded to a database for retrospective access and analysis optimization.
It should be understood that, although the respective steps in the flowcharts of fig. 3, 4, 5, 6, 7, 8 and 9 are sequentially shown as indicated by arrows, the steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 3, 4, 5, 6, 7, 8, and 9 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least some of the other steps.
In one embodiment, as shown in fig. 10, there is provided an operator identification apparatus for a medical robot, which is applied before and/or in use of the medical robot, including: the system comprises an acquisition module 100, a comparison module 200, an operation qualification acquisition module 300 and a permission judgment module 400, wherein:
the acquisition module 100 is used for acquiring the biological features to be compared of the operator by the acquisition equipment;
a comparison module 200, configured to compare the biometric characteristic to be compared with the standard biometric characteristic;
an operation qualification acquiring module 300, configured to acquire an operation qualification corresponding to the successfully compared standard biometric characteristic;
and the authority judging module 400 is used for judging whether the operator has the authority to operate the medical robot according to the operation qualification and outputting a judgment result.
In one embodiment, the acquisition module 100 is configured to acquire the biometric features to be compared by at least one of: the iris collecting device arranged in an eyepiece of the medical robot collects iris characteristics of an operator at irregular time or according to a preset collecting time interval, and the fingerprint collecting device arranged in a control mechanism of the medical robot collects fingerprint characteristics of the operator at irregular time or according to a preset collecting time interval; acquiring the face characteristics of an operator through face recognition equipment arranged on a medical robot at variable time or according to a preset acquisition time interval; blood characteristics of an operator are collected at irregular time or at preset collection time intervals by a blood characteristic collection apparatus installed at a manipulation mechanism of a medical robot.
In one embodiment, the operator identification apparatus for a medical robot further includes:
the pre-acquisition module is used for acquiring the standard biological characteristics of an operator through biological characteristic acquisition equipment installed on the medical robot;
the generating module is used for generating configuration information according to the standard biological characteristics and the operator identification;
the training data acquisition module is used for acquiring training data corresponding to an operator;
and the configuration module is used for judging whether the operator has the operation qualification according to the training data, and if so, increasing the operation qualification corresponding to the standard biological characteristics in the configuration information.
In one embodiment, the alignment module 200 includes:
the comparison unit is used for comparing the biological characteristics to be compared, which are acquired at least once, with the standard biological characteristics;
the comparison success rate calculation unit is used for calculating the comparison success rate of the biological characteristics to be compared and the standard biological characteristics in the comparison of the preset times;
and the judging unit is used for judging that the comparison of the biological characteristics to be compared and the standard biological characteristics is successful when the comparison success rate meets the requirement.
In one embodiment, the operator identification apparatus for a medical robot further includes:
the first output module is used for outputting prompt information that the identity does not meet the requirement when the operator does not have the authority of operating the medical robot; and the acquisition rules of the biological characteristics to be compared are modified.
In one embodiment, the operator identification apparatus for a medical robot further includes:
the state acquisition module is used for calculating and obtaining the current state of the operator according to the biological characteristics to be compared when the operator has the authority of operating the medical robot;
and the second output module is used for outputting the state prompt information if the current state does not meet the operation requirement.
In one embodiment, the state obtaining module is configured to obtain the current state by calculation according to at least one of the following manners: calculating to obtain the current state of the operator according to the eyelid movement characteristics and/or the pupil focusing position; and calculating the current state of the operator according to the blood characteristics in the blood vessel.
In one embodiment, the operator identification apparatus for a medical robot further includes:
the historical operation information acquisition module is used for acquiring historical operation information corresponding to the successfully compared standard biological characteristics when an operator has the authority to operate the medical robot;
and the adjusting module is used for adjusting the posture of the medical robot according to the historical operation information.
In one embodiment, the adjusting module includes:
the identification acquisition unit is used for acquiring an operator identification corresponding to the successfully compared standard biological characteristics;
an output unit for outputting an operator identifier and prompt information whether to adjust the posture of the medical robot;
and the adjusting unit is used for adjusting the posture of the medical robot according to the instruction information and the historical operation information when the instruction information for adjusting the posture of the medical robot is received.
For specific limitations of the operator identification device for a medical robot, reference may be made to the above limitations of the operator identification method for a medical robot, and details thereof are not repeated here. The above-described respective modules in the operator identification apparatus for a medical robot may be wholly or partially implemented by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 11. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement an operator identification method for a medical robot. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 11 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program: collecting the biological characteristics to be compared of an operator; comparing the biological characteristics to be compared with standard biological characteristics; and acquiring the operation qualification corresponding to the successfully compared standard biological characteristics, judging whether the operator has the authority to operate the medical robot according to the operation qualification, and outputting a judgment result.
In one embodiment, the acquisition of the to-be-compared biometric characteristic of the operator by the biometric characteristic acquisition device installed on the medical robot, which is realized when the processor executes the computer program, includes at least one of the following: iris characteristics of an operator are collected through iris collecting equipment arranged in an eyepiece of the medical robot at irregular time or according to a preset collecting time interval; acquiring fingerprint characteristics of an operator at irregular time or according to a preset acquisition time interval by using fingerprint acquisition equipment arranged on a control mechanism of the medical robot; acquiring the face characteristics of an operator through face recognition equipment arranged on a medical robot at variable time or according to a preset acquisition time interval; blood characteristics of an operator are collected at irregular time or at preset collection time intervals by a blood characteristic collection apparatus installed at a manipulation mechanism of a medical robot.
In one embodiment, before the comparing the biometric characteristic to be compared with the standard biometric characteristic, the processor further comprises: collecting standard biological characteristics of an operator through biological characteristic collecting equipment arranged on the medical robot; generating configuration information according to the standard biological characteristics and the operator identification; acquiring training data corresponding to an operator; and judging whether the operator has operation qualification according to the training data, and if so, adding the operation qualification corresponding to the standard biological characteristics in the configuration information.
In one embodiment, the comparing the biometric characteristic to be compared with the standard biometric characteristic, which is implemented when the processor executes the computer program, includes: comparing the biological characteristics to be compared, which are acquired at least once, with the standard biological characteristics; calculating the comparison success rate of the biological characteristics to be compared and the standard biological characteristics in the comparison of the preset times; and when the comparison success rate meets the requirement, judging that the comparison of the biological characteristics to be compared and the standard biological characteristics is successful.
In one embodiment, the determining whether the operator has the authority to operate the medical robot according to the operation qualification, which is implemented when the processor executes the computer program, includes: when the operator does not have the authority to operate the medical robot, outputting prompt information that the identity does not meet the requirement; and the acquisition rules of the biological characteristics to be compared are modified.
In one embodiment, the determining whether the operator has the authority to operate the medical robot according to the operation qualification, which is implemented when the processor executes the computer program, includes: when the operator has the authority to operate the medical robot, calculating according to the biological features to be compared to obtain the current state of the operator; and if the current state does not meet the operation requirement, outputting state prompt information.
In one embodiment, the calculation of the current state of the operator according to the biometric features to be compared, which is performed when the processor executes the computer program, includes at least one of: calculating to obtain the current state of the operator according to the eyelid movement characteristics and/or the pupil focusing position; and calculating the current state of the operator according to the blood characteristics in the blood vessel.
In one embodiment, the method implemented when the processor executes the computer program is applied before the medical robot is used, and after the processor executes the computer program and judges whether the operator has the authority to operate the medical robot according to the operation qualification, the method comprises the following steps: when the operator has the authority to operate the medical robot, acquiring historical operation information corresponding to the successfully compared standard biological characteristics; and adjusting the posture of the medical robot according to the historical operation information.
In one embodiment, the adjusting the pose of the medical robot according to the historical operational information implemented when the processor executes the computer program comprises: acquiring an operator identification corresponding to the successfully compared standard biological characteristics; outputting prompt information of operator identification and whether to adjust the posture of the medical robot; and when receiving the instruction information for adjusting the posture of the medical robot, adjusting the posture of the medical robot according to the instruction information and the historical operation information.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of: collecting the biological characteristics to be compared of an operator; comparing the biological characteristics to be compared with standard biological characteristics; and acquiring the operation qualification corresponding to the successfully compared standard biological characteristics, judging whether the operator has the authority to operate the medical robot according to the operation qualification, and outputting a judgment result.
In one embodiment, the acquiring of the biometric features to be compared of the operator, implemented when the computer program is executed by the processor, includes at least one of: iris characteristics of an operator are collected through iris collecting equipment arranged in an eyepiece of the medical robot at irregular time or according to a preset collecting time interval; acquiring fingerprint characteristics of an operator at irregular time or according to a preset acquisition time interval by using fingerprint acquisition equipment arranged on a control mechanism of the medical robot; acquiring the face characteristics of an operator through face recognition equipment arranged on a medical robot at variable time or according to a preset acquisition time interval; blood characteristics of an operator are collected at irregular time or at preset collection time intervals by a blood characteristic collection apparatus installed at a manipulation mechanism of a medical robot.
In one embodiment, the computer program, when executed by the processor, for performing the comparison between the biometric characteristic to be compared and the standard biometric characteristic, further comprises: collecting standard biological characteristics of an operator through biological characteristic collecting equipment arranged on the medical robot; generating configuration information according to the standard biological characteristics and the operator identification; acquiring training data corresponding to an operator; and judging whether the operator has operation qualification according to the training data, and if so, adding the operation qualification corresponding to the standard biological characteristics in the configuration information.
In one embodiment, the comparison of the biometric characteristic to be compared with the standard biometric characteristic, which is performed when the computer program is executed by the processor, includes: comparing the biological characteristics to be compared, which are acquired at least once, with the standard biological characteristics; calculating the comparison success rate of the biological characteristics to be compared and the standard biological characteristics in the comparison of the preset times; and when the comparison success rate meets the requirement, judging that the comparison of the biological characteristics to be compared and the standard biological characteristics is successful.
In one embodiment, the determining whether the operator has the authority to operate the medical robot based on the operation qualification, when the computer program is executed by the processor, includes: when the operator does not have the authority to operate the medical robot, outputting prompt information that the identity does not meet the requirement; and the acquisition rules of the biological characteristics to be compared are modified.
In one embodiment, the determining whether the operator has the authority to operate the medical robot based on the operation qualification, when the computer program is executed by the processor, includes: when the operator has the authority to operate the medical robot, calculating according to the biological features to be compared to obtain the current state of the operator; and if the current state does not meet the operation requirement, outputting state prompt information.
In one embodiment, the calculation of the current state of the operator from the biometric features to be compared, performed by the processor, includes at least one of: calculating to obtain the current state of the operator according to the eyelid movement characteristics and/or the pupil focusing position; and calculating the current state of the operator according to the blood characteristics in the blood vessel.
In one embodiment, the method implemented when the computer program is executed by the processor before the medical robot is used, and after the computer program is executed by the processor and judges whether the operator has the authority to operate the medical robot according to the operation qualification, the method comprises the following steps: when the operator has the authority to operate the medical robot, acquiring historical operation information corresponding to the successfully compared standard biological characteristics; and adjusting the posture of the medical robot according to the historical operation information.
In one embodiment, the computer program, when executed by a processor, implements adjusting a pose of a medical robot based on historical operational information, comprising: acquiring an operator identification corresponding to the successfully compared standard biological characteristics; outputting prompt information of operator identification and whether to adjust the posture of the medical robot; and when receiving the instruction information for adjusting the posture of the medical robot, adjusting the posture of the medical robot according to the instruction information and the historical operation information.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as 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 express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (13)
1. An operator identification method for a medical robot, the method comprising:
collecting the biological characteristics to be compared of an operator;
comparing the biological characteristics to be compared with standard biological characteristics;
obtaining operation qualification corresponding to the successfully compared standard biological characteristics;
and judging whether the operator has the authority to operate the medical robot according to the operation qualification, and outputting a judgment result.
2. The method of claim 1, wherein the acquiring of the operator's biometric characteristics to be compared comprises at least one of:
iris characteristics of an operator are collected at irregular time or according to a preset collection time interval through iris collection equipment arranged in an eyepiece of the medical robot;
acquiring fingerprint characteristics of an operator at irregular time or according to a preset acquisition time interval by using fingerprint acquisition equipment arranged on a control mechanism of the medical robot;
acquiring the face characteristics of an operator through face recognition equipment arranged on a medical robot at variable time or according to a preset acquisition time interval;
blood characteristics of an operator are collected at irregular time or at preset collection time intervals by a blood characteristic collection apparatus installed at a manipulation mechanism of a medical robot.
3. The method of claim 1, wherein prior to comparing the biometric to be compared to the standard biometric, further comprising:
collecting standard biological characteristics of an operator;
generating configuration information according to the standard biological characteristics and the operator identification;
acquiring training data corresponding to the operator;
and judging whether the operator has operation qualification according to the training data, if so, adding the operation qualification corresponding to the standard biological characteristics in the configuration information.
4. The method of claim 1, wherein the comparing the biometric to be compared to a standard biometric comprises:
comparing the biological characteristics to be compared with standard biological characteristics acquired at least once;
calculating the comparison success rate of the biological characteristics to be compared and the standard biological characteristics in the comparison of preset times;
and when the comparison success rate meets the requirement, judging that the comparison of the biological characteristics to be compared and the standard biological characteristics is successful.
5. The method of claim 1, further comprising:
when the operator does not have the authority of operating the medical robot, outputting prompt information of which the identity does not meet the requirement; and modifying the acquisition rule of the biological characteristics to be compared.
6. The method of claim 2, further comprising:
when the operator has the authority of operating the medical robot, calculating according to the biological features to be compared to obtain the current state of the operator;
and if the current state does not meet the operation requirement, outputting state prompt information.
7. The method of claim 6, wherein the calculating the current status of the operator according to the biometric features to be compared comprises at least one of:
calculating to obtain the current state of the operator according to the eyelid movement characteristics and/or pupil focusing position of the operator;
and calculating the current state of the operator according to the blood characteristics in the blood vessel.
8. The method of claim 1, further comprising:
when the operator has the right to operate the medical robot, acquiring historical operation information corresponding to the successfully compared standard biological characteristics;
and adjusting the posture of the medical robot according to the historical operation information.
9. The method of claim 8, wherein the adjusting the pose of the medical robot according to the historical operational information comprises:
acquiring an operator identification corresponding to the successfully compared standard biological characteristics;
outputting prompt information of the operator identification and whether to adjust the posture of the medical robot;
and when receiving instruction information for adjusting the posture of the medical robot, adjusting the posture of the medical robot according to the instruction information and the historical operation information.
10. An operator identification device for a medical robot, the device being applied before and/or during use of the medical robot, the device comprising:
the acquisition module is used for acquiring the biological characteristics to be compared of the operator;
the comparison module is used for comparing the biological characteristics to be compared with standard biological characteristics;
the operation qualification acquiring module is used for acquiring operation qualification corresponding to the successfully compared standard biological characteristics;
and the permission judging module is used for judging whether the operator has the permission to operate the medical robot according to the operation qualification.
11. An operator identification system for a medical robot, the system comprising:
a medical robot;
the biological characteristic acquisition equipment is arranged on the medical robot or is in communication connection with the medical robot and is used for acquiring biological characteristics to be compared of an operator;
and the processor is respectively communicated with the medical robot and the biological characteristic acquisition equipment, and is used for judging whether an operator has the authority to operate the medical robot according to the operator identity identification method for the medical robot in any one of the right 1 to the right 10.
12. The system of claim 11, wherein the biometric acquisition device comprises one or more of an iris acquisition device mounted in an eyepiece of the medical robot, a fingerprint acquisition device mounted on a manipulator of the medical robot, a face recognition device mounted on the medical robot, and a blood characteristic acquisition device mounted on the manipulator of the medical robot.
13. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor realizes the steps of the method of any one of claims 1 to 9 when executing the computer program.
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| CN202110998319.8A CN113779533B (en) | 2021-08-27 | 2021-08-27 | Operator identification method, device and system for medical robot |
| PCT/CN2022/114654 WO2023025219A1 (en) | 2021-08-27 | 2022-08-25 | Method, device and system for identifying operator of medical robot |
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| WO2023025219A1 (en) | 2023-03-02 |
| CN113779533B (en) | 2024-05-14 |
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