CN113855256B - Master-slave operation robot control method and device and master-slave operation robot - Google Patents

Master-slave operation robot control method and device and master-slave operation robot Download PDF

Info

Publication number
CN113855256B
CN113855256B CN202111279521.1A CN202111279521A CN113855256B CN 113855256 B CN113855256 B CN 113855256B CN 202111279521 A CN202111279521 A CN 202111279521A CN 113855256 B CN113855256 B CN 113855256B
Authority
CN
China
Prior art keywords
master
user
information
control
target device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202111279521.1A
Other languages
Chinese (zh)
Other versions
CN113855256A (en
Inventor
战梦雪
庞海峰
张芷毓
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Harbin Sagebot Intelligent Medical Equipment Co Ltd
Original Assignee
Harbin Sagebot Intelligent Medical Equipment Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Harbin Sagebot Intelligent Medical Equipment Co Ltd filed Critical Harbin Sagebot Intelligent Medical Equipment Co Ltd
Priority to CN202111279521.1A priority Critical patent/CN113855256B/en
Publication of CN113855256A publication Critical patent/CN113855256A/en
Application granted granted Critical
Publication of CN113855256B publication Critical patent/CN113855256B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Master-slave robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/60—Supports for surgeons, e.g. chairs or hand supports
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Robotics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Dentistry (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)

Abstract

The invention provides a control method and a control device for a master-slave operation robot and the master-slave operation robot. The control method of the master-slave operation robot comprises the following steps: acquiring information of a user; generating pose matching information of a target device matched with the user according to the information of the user and a first database, wherein the first database stores corresponding information of the user and pose matching information of the target device, and the target device comprises one or more of a seat of a master-slave operation robot, a pedal arranged in a moving way of a control console of the master-slave operation robot, a lifting table of the control console and a display screen of the control console; and performing pose control on the target device according to the pose matching information. The control method can reduce the workload of a user, reduce the time for adjusting each target device before operation, improve the use experience of the master-slave operation robot, has higher comfort and can correct the use posture of the user.

Description

Master-slave operation robot control method and device and master-slave operation robot
Technical Field
The invention relates to the technical field of master-slave operation robots, in particular to a control method and a control device of a master-slave operation robot and the master-slave operation robot.
Background
The master-slave operation robot is a novel medical instrument integrating various disciplines, is an important development direction of informatization, program control and intellectualization of the current medical instrument, and has wide application prospect in the aspects of clinical minimally invasive operation, battlefield rescue, earthquake and tsunami relief and the like. The master-slave operation robot comprises a master end console, a slave end manipulator and a seat, and when the master-slave operation robot is used, a user (namely a doctor) sits on the seat and controls the slave end manipulator and other actions through the operation of the master end manipulator, the pedals and the control panel on the lifting platform of the master end console.
The same master-slave operation robot can be used by a plurality of users at different time intervals, the users are different in riding postures, part of the users can adjust the part of devices before using, comfortable use requirements of the users are met, the adjustment is time-consuming and labor-consuming, the use experience is affected, part of the users are directly ridden, the comfortableness is low, and occupational diseases are easy to produce after long-time riding.
Disclosure of Invention
The invention aims to solve the problem of how to improve the use experience of a master-slave operation robot, in particular how to improve the use comfort of a user in the related technology to a certain extent.
To solve at least one aspect of the above problems, an aspect of the present invention provides a control method of a master-slave surgical robot, including:
acquiring information of a user;
generating pose matching information of a target device matched with the user according to the information of the user and a first database, wherein the first database stores corresponding information of the user and pose matching information of the target device, and the target device comprises one or more of a seat of a master-slave operation robot, a pedal arranged in a moving way of a control console of the master-slave operation robot, a lifting table of the control console and a display screen of the control console;
and performing pose control on the target device according to the pose matching information.
Optionally, the control method of the master-slave operation robot further comprises:
acquiring the using time of the user, and performing pose adjustment control on the target device when the using time meets preset conditions;
wherein, the preset conditions include: the use time length falls into a preset time length range, and the preset time length range comprises one or more time length intervals.
Optionally, the performing pose adjustment control on the target device includes:
acquiring image information of the user, wherein the image information comprises head posture information of the user, and adjusting and controlling the position and posture of the seat and/or the display screen according to the head posture information;
and/or the number of the groups of groups,
and acquiring the fitting information of the user and the chair back of the chair, and performing pose adjustment control on the chair back according to the fitting information.
Optionally, the chair back is provided with a pressure sensor, the laminating information includes detection data of the pressure sensor, according to the laminating information to the chair back carries out position appearance adjustment control, includes:
generating a second time period when the user and the chair back are in a fitting state in the first time period according to the fitting information, and when the detection data of the pressure sensor is greater than or equal to a first preset pressure, the user and the chair back are in the fitting state;
and carrying out pose adjustment control on the chair back according to the ratio of the second time period to the first time period.
Optionally, when the usage time meets a preset condition, the pose adjustment control is performed on the target device, including,
when the use time meets the preset conditions, acquiring a master-slave control state of the master-slave operation robot;
when the master-slave operation robots are in a master-slave control disconnected state, pose adjustment control is carried out on each target device;
and when the master-slave operation robot is in a master-slave control state, delaying the pose adjustment control of each target device, or enabling the target device to comprise the seat and carrying out pose adjustment control on the chair back of the seat.
Optionally, after the pose control is performed on the target device according to the pose matching information, the control method of the master-slave operation robot further includes:
acquiring indication information of the user, wherein the indication information comprises a first mode instruction and/or a second mode instruction;
when the first mode instruction is acquired, acquiring the using time of the user, and when the using time meets the preset condition, performing pose adjustment control on the target device;
and when the second mode instruction is acquired, carrying out pose adjustment control on the target device at regular time within a preset pose range.
According to the control method of the master-slave operation robot, the target device is subjected to pose matching according to the information of the user, the target device is controlled to reach the pose matched with the user, the user can obtain comfortable use poses (such as sitting postures of the user, stepping postures and watching postures of a display screen) without adjusting the pose of the target device or finely adjusting the target device, the workload of the user can be reduced, the time for adjusting each target device before operation by the user is reduced, the use experience of the master-slave operation robot is improved, the comfortableness is higher, the use poses of the user can be corrected to a certain extent, and occupational diseases (cervical vertebra lumbar vertebra discomfort and the like) possibly generated are prevented.
The second aspect of the invention provides a control device of a master-slave operation robot, which comprises a memory and a processor; the memory is used for storing a computer program; the processor is configured to implement the control method of the master-slave surgical robot according to any one of the first aspect above when executing the computer program.
A third aspect of the present invention proposes a master-slave surgical robot comprising the control device of the master-slave surgical robot as described in the second aspect above, further comprising a seat and a console, the seat comprising a height adjustment mechanism and/or a chair back pose adjustment mechanism; the console comprises one or more of a pedal, a lifting table and a display screen which are arranged in a moving way.
Optionally, the device further comprises a camera, and the camera is suitable for being arranged at a display screen of the console or on one side of the seat so as to acquire image information of a user.
Optionally, a pressure sensor is also included and is adapted to be disposed at the back of the seat.
The control device and the master-slave operation robot can realize the control method of the master-slave operation robot, which can reduce the workload of a user and improve the use experience of the user.
Drawings
FIG. 1 is a flow chart of a method of controlling a master-slave surgical robot in an embodiment of the invention;
fig. 2 is a schematic structural view of a console of a master-slave surgical robot according to an embodiment of the present invention.
Reference numerals illustrate:
1-control desk, 2-pedal, 3-elevating platform, 4-display screen.
Description of the embodiments
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be directly connected or indirectly connected through an intermediate medium. 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 description of the present specification, descriptions of the terms "embodiment," "one embodiment," "some embodiments," "illustratively," and "one embodiment" and the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or embodiment is included in at least one embodiment or implementation of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same examples or implementations. Furthermore, the particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or implementations.
As shown in fig. 1 and 2, an embodiment of the present invention provides a control method of a master-slave operation robot, including:
step S1, obtaining information of a user;
step S2, generating pose matching information of a target device matched with the user according to the information of the user and a first database, wherein the first database stores corresponding information of the user and pose matching information of the target device, and the target device comprises one or more of a seat of a master-slave operation robot, a pedal 2 arranged in a moving way of a console 1 of the master-slave operation robot, a lifting platform 3 of the console 1 and a display screen 4 of the console 1;
and step S3, performing pose control on the target device according to the pose matching information.
Illustratively, the information of the user includes height information of the user, position matching information of a target device matching the user can be found in the first database according to the height information of the user, for example, information of a height of a seat matching the user and/or an inclination angle of a back of the seat, information of a height of the lifting table 3, information of a height of the display screen 4, information of a moving position of the foothold 2. Other usage environment information related to the user may be included, for example, pose information of the main end operator of the console 1 matching the height of the user.
The manner in which the information of the user is obtained is not limited. For example, a height measuring device is configured, for example, an infrared height measuring instrument is arranged near a console 1 of a master-slave operation robot, the infrared height measuring instrument measures the height of a user before the user takes a seat, the height is transmitted to the console through wired communication or wireless communication and the like, and the console controls the target devices to act according to pose matching information so as to reach a pose matched with the user. The user's identification information is illustratively, but not exclusively, identified by user input or face recognition, fingerprint recognition, etc. before the user sits, and the pose matching information is called in the first database according to the identification information.
In this way, the control method performs pose matching on the target device according to the information of the user, and controls the target device to reach the pose matched with the user, so that the user can obtain comfortable use poses (such as the sitting position of the user, the stepping 2 pose and the pose for watching the display screen 4) without adjusting the pose of the target device or finely adjusting the target device, thereby reducing the workload of the user, reducing the time for adjusting each target device before operation, improving the use experience of the master-slave operation robot, having higher comfortableness, correcting the use poses of the user to a certain extent, and preventing possible occupational diseases (cervical vertebra lumbar vertebra discomfort and the like).
In an optional embodiment of the present invention, the step S3 further includes: and acquiring the using time of the user, and performing pose adjustment control on the target device when the using time meets the preset condition.
Illustratively, the preset condition includes the use time period being longer than the first time period.
Therefore, by setting the preset conditions, in the process of using the master-slave operation robot by a user, the pose of the target device can be adjusted according to the using time length, and the pose of the target device can be adjusted so as to meet the using requirements. For example, fatigue caused by a user maintaining a certain fixed posture for a long time can be avoided to some extent, or the posture of the user can be adapted to some extent.
Specifically, the preset conditions include: the use time length falls into a preset time length range, and the preset time length range comprises one or more time length intervals.
The preset duration includes a plurality of duration intervals, and time intervals between the duration intervals are equal, and each duration interval includes at least one usage duration value, at this time, that is, the pose of each target device is adjusted periodically, and the time intervals may be determined according to actual requirements, which are not described in detail herein.
For example, the preset duration includes a plurality of duration intervals, and the time intervals between the duration intervals may be sequentially decreased, for example, when the duration reaches 60 minutes, 110 minutes, and 150 minutes, pose adjustment control is performed on the target device respectively.
Optionally, when the usage time meets a preset condition, performing pose adjustment control on the target device includes:
when the usage time length meets a first preset condition, acquiring image information of the user, wherein the image information comprises head posture information of the user, and adjusting the height of the seat and/or the pose of the display screen 4 (for example, adjusting the height of the display screen 4) according to the head posture information.
The master-slave surgical robot may include a camera adapted to acquire image information of a user. The camera may be disposed at the display screen 4, for example, above or below the display screen 4, or may be disposed inside the display screen 4, and the camera may be disposed at one side of the seat (the left side or one side of the user) to obtain more accurate head pitch angle information (described later).
Illustratively, head pitch angle information of a user is generated according to head posture information of the user, and the head posture of the user is divided into three postures (each posture can correspond to a certain head pitch angle range) of bottom view, top view or head-up view according to the head pitch angle information. When the head posture of the user is in the top view posture, the height of the seat is controlled to be lowered, and/or the height of the display screen 4 is controlled to be raised. The lifting amplitude can be a preset first amplitude, and the specific lifting amplitude can be determined according to the numerical range of the pitch angle of the head, which is not limiting. When the head posture of the user is in the head-up posture, the height of the seat can be selectively controlled to be raised and lowered according to the preset second amplitude, and/or the height of the display screen 4 can be controlled to be raised and lowered. The second amplitude is smaller than or equal to the first amplitude described in the upper part, so that the influence on comfort experience caused by overlarge gesture change of a user due to overlarge second amplitude is avoided. Here, it should be noted that the pose of each target device should correspond to a pose range, not a fixed value, in which pose adjustment is performed, in a comfortable state of the user, and the comfort of the user does not change greatly, but the fatigue of the user can be reduced to some extent, and the possibility of occupational diseases caused by maintaining a fixed pose for a long period of time can be reduced.
Therefore, the posture of the watching screen of the user can be adjusted by adjusting the height of the seat and/or the posture of the display screen 4, so that the discomfort of the cervical vertebra of the user is reduced to a certain extent, and the use experience of the master-slave operation robot is improved.
Optionally, when the usage time meets a preset condition, performing pose adjustment control on the target device includes:
and acquiring the fitting information of the user and the chair back of the chair, and performing pose adjustment control on the chair back according to the fitting information.
Illustratively, a pressure sensor is disposed at the back of the chair to detect the fitting state of the user and the back of the chair, so as to obtain the fitting information.
Specifically, the adjusting of the seat back may include adjusting the overall tilt angle of the seat back. The chair back can also comprise a sacral position supporting mechanism, a lumbar position supporting mechanism and a neck position supporting mechanism, and pressure sensors corresponding to the positions of the mechanisms are arranged on the chair back.
Therefore, the supporting condition of the chair back to the user can be fully considered, and corresponding adjustment is carried out, so that the comfortable experience of the user is ensured.
Further, taking the example of detecting the above fitting information by the pressure sensor, the fitting information includes detection data of the pressure sensor, and the adjusting control of the chair back according to the fitting information includes:
generating a second time period when the user and the chair back are in a fitting state in the first time period according to the fitting information, and when the detection data of the pressure sensor is greater than or equal to a first preset pressure, the user and the chair back are in the fitting state;
and carrying out pose adjustment control on the chair back according to the ratio of the second time period to the first time period.
Taking the example of controlling the action of the inclination angle adjusting mechanism of the chair back to adjust the inclination angle of the chair back, when the above ratio is greater than or equal to the first ratio (for example, the first ratio may be 0.65-1,0.75,0.8), controlling the action of the inclination angle adjusting mechanism of the chair back to enable the chair back to move to the rear side, for example, enabling the inclination angle of the chair back to increase by a third amplitude; when the above ratio is less than or equal to the second ratio (for example, the second ratio may be 0-0.4, for example, 0.3,0.2), the reclining mechanism of the seatback is controlled to act so that the seatback moves toward the front side, for example, so that the reclining angle of the seatback decreases by a fourth magnitude; when the ratio is greater than the second ratio and smaller than the first ratio, the inclination angle adjusting mechanism of the chair back is controlled to act so that the pose of the chair back is kept unchanged, or the inclination angle of the chair back is increased or decreased by a fifth amplitude, and the fifth amplitude is smaller than the third amplitude and the fourth amplitude, for example, the fifth amplitude is 0.6-1 times, 0.7-0.9 times and 0.8 times of the smaller value of the third amplitude and the fourth amplitude.
Therefore, the fitting condition of the user and the chair back is judged through the detection data of the pressure sensor, the judgment data is accurate, a reliable data basis is provided for adjusting the pose of the chair back according to fitting information, the pose of the chair back is adjusted according to the ratio of the second time to the first time, the supporting condition of the chair back to the user in the first time is fully considered, the fitting information of the user and the chair back in a single state is not adopted, the practical condition of the user is more met, the reliability is high, and the practicability is strong.
The above-mentioned gesture adjustment control of the target device may include the above two cases, and in this case, the first preset condition and the second preset condition may be the same or different, and are not limited.
In the above embodiment, when the use time satisfies a preset condition, the pose adjustment control is performed on the target device, further comprising,
when the use time meets the preset conditions, acquiring a master-slave control state of the master-slave operation robot;
when the master-slave operation robots are in a master-slave control disconnected state, pose adjustment control is carried out on each target device;
and when the master-slave operation robot is in a master-slave control state, delaying the pose adjustment control of each target device, or enabling the target device to comprise the seat and carrying out pose adjustment control on the chair back of the seat.
That is, in one embodiment, when the use time satisfies a preset condition and the master-slave surgical robot is in a disconnected state of master-slave control, pose adjustment control is performed on each of the target devices; and when the use time meets the preset condition and the master-slave operation robot is in a master-slave control state, delaying the pose adjustment control of each target device. Avoiding influencing the master-slave control experience due to the pose adjustment control of the target device.
In another embodiment, when the use time meets a preset condition, and when the master-slave surgical robot is in a master-slave control state, only the chair back of the chair is subjected to pose adjustment control, and the pose adjustment control on other target devices is delayed.
When a user performs an operation using the master-slave operation robot, the master-slave operation robot and the slave-slave operation robot often need to be intermittently controlled by (clutch) pedals to switch between a control state and a disconnection state of the master-slave control during the operation due to a limited range of movement of the master-slave operation robot.
Therefore, the pose adjustment can be carried out on each target device in the disconnection state of the master-slave control, the interference to a user is reduced in the control state of the master-slave control, the comfort requirement and the pose adjustment requirement on the target device can be considered, the reliability is high, and the practicability is strong.
In some embodiments, after step S3, step S4 may further be included:
acquiring indication information of a user, wherein the indication information comprises a first mode instruction and/or a second mode instruction;
when the first mode instruction is acquired, acquiring the use time of the user, and when the use time meets a preset condition, performing pose adjustment control (i.e. executing the above steps for convenience of distinction, hereinafter referred to as first mode control) on the target device;
and when the second mode instruction is acquired, carrying out pose adjustment control (hereinafter referred to as second mode control for convenience of distinction) on the target device within a preset pose range at regular time.
The preset pose range refers to the pose range of the target device when the user obtains more comfortable (or understood as healthy pose); in the second mode control, the image information of the user or the fitting information of the user and the chair back of the chair does not need to be acquired. The adjustment range of the target device is relatively small, and it is also possible to select whether or not to execute the pose adjustment control according to the control state of the master-slave control, which is similar to the first mode control, and will not be described in detail here.
Therefore, the specific mode can be selected according to the actual needs of the user, and the device is simple in structure and high in practicability.
In addition, in an embodiment of the present invention, the control method may further include:
acquiring identity identification information of a user;
judging whether the identity information of the user exists in the first database;
when the identity identification information of the user exists in the first database, acquiring operation information of the user, wherein the operation information comprises adjustment information of the target device, and updating the first database according to the pose matching information and the adjustment information of the target device;
when the identity information of the user does not exist in the first database, operation information of the user is obtained, the operation information comprises adjustment information of the target device, and the first database is updated according to the identity information of the user, the pose matching information of the target device and the adjustment information.
The manner of acquiring the user's identification information has been described above, and will not be described in detail herein, for example, the user's identification information is acquired through a fingerprint identification module, which may be disposed at the lifting platform 3 and the main end manipulator of the console 1, and the like, and will not be described in detail herein.
Therefore, the adjustment information of the user can be recorded and recorded in the first database to form data special for each user, and the data can be conveniently called when the user uses the master-slave operation robot for the second time.
Illustratively, steps S1 to S3 are completed before the user sits on the seat, and the steps may be performed between step S3 and step S4, so that the use efficiency of the master-slave operation robot can be provided, the workload of the user is reduced, the use experience of the user is improved, and the reliability and the practicability are high.
A further embodiment of the present invention provides a control device for a master-slave surgical robot, comprising a memory and a processor; the memory is used for storing a computer program; the processor is configured to implement the control method of the master-slave surgical robot according to any one of the above when executing the computer program.
A further embodiment of the present invention provides a master-slave surgical robot comprising a control device of the master-slave surgical robot as described above, further comprising a seat comprising a height adjustment mechanism and/or a seat back posture adjustment mechanism (e.g. a seat back tilt angle adjustment mechanism) and a console 1; the console 1 comprises one or more of a pedal 2, a lifting platform 3 and a gesture-adjustable display screen 4 which are arranged in a moving way.
Therefore, the control device and the master-slave operation robot can realize the control method of the master-slave operation robot, which can reduce the workload of a user and improve the use experience of the user.
Optionally, the master-slave surgical robot further comprises a camera adapted to be arranged at the display screen 4 of the console 1. Thus, the image information of the user can be acquired through the camera.
Optionally, the master-slave surgical robot further comprises a pressure sensor adapted to be arranged at the back of the chair. Therefore, the fitting state of the user and the chair back can be judged through the detection data of the pressure sensor.
In addition, the control method of the master-slave surgical robot is related to each device of the master-slave surgical robot, and will not be described in detail here.
It should be noted that fig. 2 shows a technical solution in which the display screen 4 includes a main screen and an auxiliary screen, the auxiliary screen is located on the left side of the main screen, and the position of the auxiliary screen relative to the main screen is adjustable (by an electric adjustment mechanism), but the present invention is not limited thereto, and the auxiliary screen may also be located above the main screen, and will not be described in detail herein.
Although the present disclosure is described above, the scope of protection of the present disclosure is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the disclosure, and these changes and modifications will fall within the scope of the invention.

Claims (8)

1. A control method of a master-slave operation robot, comprising:
acquiring information of a user;
generating pose matching information of a target device matched with the user according to the information of the user and a first database, wherein the first database stores corresponding information of the user and pose matching information of the target device, and the target device comprises one or more of a seat of a master-slave operation robot, a pedal (2) arranged in a moving way of a control console (1) of the master-slave operation robot, a lifting table (3) of the control console (1) and a display screen (4) of the control console (1);
performing pose control on the target device according to the pose matching information;
acquiring the using time of the user, and performing pose adjustment control on the target device when the using time meets preset conditions;
the performing pose adjustment control on the target device includes: acquiring laminating information of the user and a chair back of the chair, and performing pose adjustment control on the chair back according to the laminating information;
wherein, back of the chair department is provided with pressure sensor, laminating information includes pressure sensor's detection data, according to laminating information is right the back of the chair carries out position appearance adjustment control, includes: generating a second time period when the user and the chair back are in a fitting state in the first time period according to the fitting information, and when the detection data of the pressure sensor is greater than or equal to a first preset pressure, the user and the chair back are in the fitting state; performing pose adjustment control on the chair back according to the ratio of the second time period to the first time period;
the performing pose adjustment control on the target device further includes:
acquiring a master-slave control state of the master-slave operation robot;
when the master-slave operation robot is in a master-slave control state, delaying the pose adjustment control of each target device, or when the number of the target devices is at least two and the master-slave operation robot comprises the seats, only carrying out pose adjustment control on the chair backs of the seats;
and when the master-slave operation robot is in a master-slave control disconnection state, performing pose adjustment control on each target device.
2. The control method of a master-slave surgical robot according to claim 1, wherein the preset conditions include: the use time length falls into a preset time length range, and the preset time length range comprises one or more time length intervals.
3. The control method of the master-slave surgical robot according to claim 2, wherein the performing pose adjustment control on the target device further comprises:
and acquiring image information of the user, wherein the image information comprises head posture information of the user, and adjusting and controlling the position and posture of the seat and/or the display screen (4) according to the head posture information.
4. The method according to claim 1, wherein after the pose control of the target device according to the pose matching information, further comprising:
acquiring indication information of the user, wherein the indication information comprises a first mode instruction and/or a second mode instruction;
when the first mode instruction is acquired, acquiring the using time of the user, and when the using time meets the preset condition, performing pose adjustment control on the target device;
and when the second mode instruction is acquired, carrying out pose adjustment control on the target device at regular time within a preset pose range.
5. The control device of the master-slave operation robot is characterized by comprising a memory and a processor; the memory is used for storing a computer program; the processor is configured to implement the control method of the master-slave surgical robot according to any one of claims 1 to 4 when executing the computer program.
6. A master-slave surgical robot, characterized by comprising the master-slave surgical robot control device according to claim 5, further comprising a seat and a console (1), the seat comprising a height adjustment mechanism and/or a back pose adjustment mechanism; the control console (1) comprises one or more of a pedal (2), a lifting table (3) and a display screen (4) which are arranged in a moving mode.
7. The master-slave surgical robot according to claim 6, further comprising a camera provided at a display screen (4) of the console (1) or at one side of the seat to acquire image information of a user.
8. The master slave surgical robot of claim 7, further comprising a pressure sensor disposed at a back of the seat.
CN202111279521.1A 2021-10-27 2021-10-27 Master-slave operation robot control method and device and master-slave operation robot Active CN113855256B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111279521.1A CN113855256B (en) 2021-10-27 2021-10-27 Master-slave operation robot control method and device and master-slave operation robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111279521.1A CN113855256B (en) 2021-10-27 2021-10-27 Master-slave operation robot control method and device and master-slave operation robot

Publications (2)

Publication Number Publication Date
CN113855256A CN113855256A (en) 2021-12-31
CN113855256B true CN113855256B (en) 2023-07-07

Family

ID=78986456

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111279521.1A Active CN113855256B (en) 2021-10-27 2021-10-27 Master-slave operation robot control method and device and master-slave operation robot

Country Status (1)

Country Link
CN (1) CN113855256B (en)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110466458A (en) * 2019-08-23 2019-11-19 广州小鹏汽车科技有限公司 A kind of control method, system and the vehicle of the car-mounted device being electrically adjusted
CN110559083A (en) * 2019-09-10 2019-12-13 深圳市精锋医疗科技有限公司 surgical robot and control method and control device for tail end instrument of surgical robot

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104013229B (en) * 2014-05-16 2016-08-17 湖南农业大学 The seat of a kind of automatic straightening sitting posture and using method thereof
JP6572727B2 (en) * 2015-10-22 2019-09-11 テイ・エス テック株式会社 Condition correction unit
EP3251889B1 (en) * 2016-06-03 2019-08-07 Volvo Car Corporation Sitting position adjustment system
US10640010B2 (en) * 2016-12-29 2020-05-05 Lear Corporation Adjustable seat assembly
JP6626951B2 (en) * 2018-03-12 2019-12-25 パラマウントベッド株式会社 Electric furniture
CN108814616B (en) * 2018-04-12 2021-11-05 深圳和而泰数据资源与云技术有限公司 Sitting posture identification method and intelligent seat
CN108928265A (en) * 2018-07-13 2018-12-04 厦门理工学院 A kind of automotive seat sitting posture Collaborative Control devices, systems, and methods
US10874224B2 (en) * 2018-07-13 2020-12-29 Verb Surgical Inc. Surgical robotic system having anthropometry-based user console
CN109512185B (en) * 2018-12-17 2021-09-21 山东协和学院 Intelligent sitting posture adjusting method
CN110843614B (en) * 2019-11-30 2022-07-08 的卢技术有限公司 Self-adaptive adjusting method and system for automobile seat
CN111459284A (en) * 2020-04-10 2020-07-28 西安航科工程技术有限责任公司 Adjusting mechanism of display screen, adjusting system, adjusting method and adjustable mattress
CN113455845A (en) * 2021-07-22 2021-10-01 陈文馨 Intelligent working seat

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110466458A (en) * 2019-08-23 2019-11-19 广州小鹏汽车科技有限公司 A kind of control method, system and the vehicle of the car-mounted device being electrically adjusted
CN110559083A (en) * 2019-09-10 2019-12-13 深圳市精锋医疗科技有限公司 surgical robot and control method and control device for tail end instrument of surgical robot

Also Published As

Publication number Publication date
CN113855256A (en) 2021-12-31

Similar Documents

Publication Publication Date Title
JP2020078666A (en) Technique for adjusting posture of seated person
CN108349386B (en) Device and method for controlling a display device in a motor vehicle
CN110843614A (en) Self-adaptive adjusting method and system for automobile seat
US8872640B2 (en) Systems, computer medium and computer-implemented methods for monitoring health and ergonomic status of drivers of vehicles
US11666156B2 (en) Surgical robotic system having anthropometry-based user console
JP7283234B2 (en) Posture Identification Device, Posture Identification System, and Posture Identification Method
US10882478B2 (en) Movement-based comfort adjustment
Bourahmoune et al. AI-powered Posture Training: Application of Machine Learning in Sitting Posture Recognition Using the LifeChair Smart Cushion.
CN110316063A (en) The display control method and vehicle of vehicle-mounted display terminal system, vehicle-mounted display terminal
CN107536311B (en) Intelligent multifunctional seat system
EP3427127B1 (en) Occupant support device and system for controlling objects
CN113320448B (en) Seat adjusting method and device and computer readable storage medium
CN113855256B (en) Master-slave operation robot control method and device and master-slave operation robot
KR101423423B1 (en) Power seat
CN102467230A (en) Method and system for operating and controlling vernier by human body
WO2019208764A1 (en) Ecu device, vehicle seat, system for estimating lower limb length of seated person, and attachment structure for sitting height detection sensor
CN111356970A (en) Angle adjusting method, intelligent seat and computer storage medium
KR20160048617A (en) Real-time sitting posture monitoring system using pressure sensor
CN114194129A (en) Vehicle ceiling screen adjusting method, control system and vehicle
JP7197805B2 (en) Chair and posture judgment method
JP2019171009A (en) Seating posture determination device, chair, seating posture determination method, and program
CN117678853A (en) Computer desk height adjusting method and device, computer desk and medium
Faudzi et al. Stiffness and viscous coefficient characteristics for ergonomics chair design

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
CB02 Change of applicant information
CB02 Change of applicant information

Address after: No. 8, Dalian North Road, Haping Road Concentration Zone, Economic Development Zone, Harbin City, Heilongjiang Province, 150040

Applicant after: Harbin sizherui intelligent medical equipment Co.,Ltd.

Address before: Room 08, 15 / F, No.368, Changjiang Road, Nangang District, economic development zone, Harbin City, Heilongjiang Province

Applicant before: HARBIN SIZHERUI INTELLIGENT MEDICAL EQUIPMENT Co.,Ltd.

GR01 Patent grant
GR01 Patent grant