WO2020077562A1

WO2020077562A1 - Surgical light control method, surgical light, computer device and computer storage medium

Info

Publication number: WO2020077562A1
Application number: PCT/CN2018/110647
Authority: WO
Inventors: 王磊
Original assignee: 南京迈瑞生物医疗电子有限公司
Priority date: 2018-10-17
Filing date: 2018-10-17
Publication date: 2020-04-23
Also published as: CN109496257A

Abstract

A surgical light (1) and a control method therefor. The surgical light (1) comprises a processor (1-9), a sensor (6) provided on a lamp holder system (1-2), and an illumination system (11) having at least one illumination unit (1-3). The sensor (6) is configured to collect feature information of a light blocking object in a light coverage area of the illumination system (11), wherein the feature information is used to represent a spatial arrangement feature of the light blocking object (701); the processor (1-9) obtains the feature information and light intensity distribution information of the illumination system (11), and determines light intensity compensation strategy of the illumination system (11) according to the feature information and the light intensity distribution information; the light intensity compensation strategy comprises light intensity adjustment of at least one illumination unit (1-3) or comprises illumination angle adjustment of at least one illumination unit (1-3) (702); and the illumination system (11) is configured to perform the light intensity compensation strategy in accordance with instructions of the processor (1-9) (703).

Description

Operating lamp control method, operating lamp, computer equipment and computer storage medium

Technical field

The invention relates to the field of medical instruments, and in particular to a method for controlling a surgical lamp, a surgical lamp, a computer device, and a computer storage medium.

Background technique

Surgical shadowless lamp (abbreviated as surgical lamp) is an indispensable and commonly used equipment in the operating room. This equipment is used to provide illumination to the patient's surgical site and provide a good observation environment for the doctor; the surgical lamp is generally located above the patient's surgical part or diagonally above the doctor. Between the surgical lamp and the patient's surgical site, the doctor's body, especially the head, is the main factor affecting the illumination of the surgical lamp; the surgical lamp has a larger lamp head area and a light source emitting area, which can be reduced by a larger light emitting surface area Or eliminate the umbral area caused by the occlusion of the doctor's head and other body parts and weaken the phantom as much as possible; although the surgical lamp does not have the umbra area, the illuminance of the surgical site will be reduced by about 30% -50% due to the doctor's body occlusion. It will cause a certain negative impact on the doctor's observation.

Summary of the invention

To solve the above technical problems, embodiments of the present invention provide a method for controlling a surgical lamp, a surgical lamp, a computer device, and a computer storage medium.

An embodiment of the present invention provides a surgical lamp, wherein the surgical lamp includes a processor, a sensor provided on the lamp cap of the surgical lamp, and a lighting system including at least one lighting unit;

The sensor is configured to collect feature information of the obstruction within the coverage of the light source of the lighting system, wherein the feature information is used to characterize the spatial distribution characteristics of the obstruction;

The processor is configured to obtain the characteristic information, obtain the light intensity distribution information of the lighting system, and determine the light intensity compensation strategy of the lighting system according to the characteristic information and the light intensity distribution information, the light The strong compensation strategy includes light intensity adjustment of at least one lighting unit or illumination angle adjustment of at least one lighting unit;

The lighting system is configured to execute the light intensity compensation strategy according to processor instructions.

An embodiment of the present invention also provides a computer device, including a memory and a processor, the processor is used to communicate with a surgical lamp, the surgical lamp includes a sensor disposed in the lamp holder of the surgical lamp and includes at least one lighting unit Lighting system;

The processor is configured to obtain characteristic information of the obstruction within the coverage of the light source of the lighting system collected by the sensor, obtain light intensity distribution information of the lighting system, and determine according to the characteristic information and the light intensity distribution information A light intensity compensation strategy of the lighting system, so that the lighting system executes the light intensity compensation strategy according to a processor instruction, the light intensity compensation strategy includes light intensity adjustment of at least one lighting unit or includes at least one lighting unit Adjustment of the illumination angle, wherein the characteristic information is used to characterize the spatial distribution characteristics of the obstruction;

The memory stores computer readable instructions, which when executed by the processor, causes the processor to implement the configuration of the processor when executed.

An embodiment of the present invention also provides a computer storage medium on which a computer program is stored. When the computer program is executed by a processor, the following method is implemented:

Acquiring the characteristic information of the obstruction within the coverage of the light source of the lighting system collected by the sensor, obtaining the light intensity distribution information of the lighting system, and determining the light intensity compensation strategy of the lighting system according to the characteristic information and the light intensity distribution information, So that the lighting system executes the light intensity compensation strategy according to a processor instruction, the light intensity compensation strategy includes light intensity adjustment of at least one lighting unit or illumination angle adjustment of at least one lighting unit, wherein the characteristic information It is used to characterize the spatial distribution characteristics of the obstruction.

An embodiment of the present invention also provides a method for controlling a surgical lamp, the surgical lamp includes a processor, a sensor disposed on a lamp cap of the surgical lamp, and a lighting system including at least one lighting unit, the method includes:

The sensor collects feature information of the obstruction within the coverage of the light source of the lighting system, wherein the feature information is used to characterize the spatial distribution characteristics of the obstruction;

The processor obtains the characteristic information, obtains the light intensity distribution information of the lighting system, and determines the light intensity compensation strategy of the lighting system according to the characteristic information and the light intensity distribution information, and the light intensity compensation The strategy includes adjustment of light intensity of at least one lighting unit or adjustment of illumination angle of at least one lighting unit;

The lighting system executes the light intensity compensation strategy according to processor instructions.

An embodiment of the present invention further provides another computer storage medium on which a computer program is stored, wherein when the computer program is executed by a processor, any of the above-mentioned surgical lamp control methods is implemented.

According to a technical solution provided by an embodiment of the present invention, a surgical lamp includes a processor, a sensor provided on the lamp cap of the surgical lamp, and a lighting system including at least one lighting unit; the sensor is configured to collect occlusion within the coverage of the light source of the lighting system Characteristic information of an object, wherein the characteristic information is used to characterize the spatial distribution characteristics of the obstruction; the processor is configured to obtain the characteristic information, obtain the light intensity distribution information of the lighting system, and according to the characteristics Information and the light intensity distribution information to determine a light intensity compensation strategy of the lighting system, the light intensity compensation strategy including light intensity adjustment of at least one lighting unit or illumination angle adjustment including at least one lighting unit; the lighting system It is configured to execute the light intensity compensation strategy according to the instructions of the processor, so as to stably and accurately compensate the light intensity of the lighting unit.

BRIEF DESCRIPTION

FIG. 1 is a schematic structural diagram 1 of a system for implementing surgical lamp illumination in the related art;

2A is a schematic structural diagram 2 of a system for implementing surgical lamp illumination in the related art;

2B is a schematic structural diagram 3 of a system for implementing surgical lamp illumination in the related art;

2C is a schematic diagram 4 of a system structure for realizing the operation lamp illumination in the related art;

FIG. 3 is a schematic structural diagram of a system for operating lamp illumination in an embodiment of the present invention;

4 is a schematic diagram of a circuit structure involved in a surgical lamp in an embodiment of the present invention;

5 is a schematic diagram of an implementation manner for determining the occlusion area ratio for the system structure shown in FIG. 3 in an embodiment of the present invention;

6 is a schematic diagram of two implementation manners for determining the occlusion area ratio for the system structure shown in FIG. 3 in an embodiment of the present invention;

7 is a flowchart of a method for controlling a surgical lamp according to an embodiment of the present invention;

8 is a schematic structural diagram of a computer device according to an embodiment of the present invention.

detailed description

In order to understand the features and technical contents of the embodiments of the present invention in more detail, the following describes the implementation of the embodiments of the present application in detail with reference to the drawings. The accompanying drawings are for reference only and are not intended to limit the embodiments of the present invention.

In the related art, in order to keep the illuminance of the surgical site as little as possible from being blocked by the doctor's body, the surgical light product can be equipped with a detector that detects occlusion. These detectors will increase the surgical light when it detects the presence of obstruction under the surgical light. The light intensity of the light can compensate for the attenuation of the illumination caused by the doctor's occlusion.

Exemplarily, FIG. 1 is a schematic structural diagram 1 of a system for implementing surgical lamp illumination in the related art. As shown in FIG. 1, the surgical lamp 1 is located above the operating bed 2 and the patient 3, and the doctor 4 is located between the surgical lamp 1 and the patient 3; The surgical lamp 1 includes a suspension system 1-1 and a lamp head system 1-2, wherein the suspension system 1-1 is generally fixed on the ceiling of the operating room for fixing and hanging the lamp head system 1-2; the lamp head system 1-2 generally includes one Or a plurality of lighting units 1-3, one or more occlusion detectors 1-4, and a surgical light control system 1-5; in another embodiment, the surgical light control system 1-5 may also be provided on the lamp head Outside of system 1-2. When the surgical lamp 1 is working, the lighting unit 1-3 emits illumination light to form an optical path 1-6 to illuminate the surgical site of the patient 3. At this time, the doctor 4 will generally be in the same position as the patient for more convenient observation and operation. The location of the surgical site is closer; in particular, in order to see the deep cavity of the patient's body, the eyes of the doctor 4 and part of the illumination light coincide, that is to say, the doctor's head 4-1 or part of the shoulder will be on the light path 1-6 Within the area. In this way, the doctor's head 4-1 blocks part of the illumination light, causing a change in the illuminance of the patient's surgical site; for this problem, the detector 1-4 can be used in the related art to detect the doctor's blocking of the optical path 1-6 After detecting the obstruction, the detector 1-4 can feed back the corresponding signal to the operating lamp control system 1-5, and the operating lamp control system 1-5 can control the light intensity of the lighting unit 1-3 according to the received signal In order to compensate for the loss of illuminance caused by the doctor's obstruction at the surgical site; in the related art, the detector 1-4 can generally use a photoelectric switch, the principle is: after emitting the optical signal 1-7, judge by measuring the reflected optical signal 1-8 Whether there is any obstruction in the direction of the optical signal emission of the detector.

Although, in the related art, it is possible to detect whether there is an obstruction under the surgical lamp by a detector, and to control the illumination unit to perform light intensity compensation when it is determined that there is an obstruction under the surgical lamp, the light intensity compensation method described above has poor stability And the problem of low accuracy, the brightness change of the surgical site during the movement of the doctor's head is more obvious or even appears to be suddenly high and low. The following is an example of light intensity compensation of the related art through FIGS. 2A, 2B, and 2C. Problems with the method.

2A is a schematic structural diagram 2 of a system for implementing surgical lamp lighting in the related art, FIG. 2B is a schematic structural diagram 3 of a system for implementing surgical lamp lighting in the related art, and FIG. 2C is a schematic structure 4 of the system for implementing surgical lamp lighting in the related art, as shown As shown in 2A, when the doctor 4 is far away from the patient 3, only one detector 1-4 in the lamp head system 1-2 detects the doctor's head 4-1, and the head 4-1 is in the lamp head system 1-2 The projected area on is the ellipse 5-1 in FIG. 2A. It can be seen that in FIG. 2A, the ellipse 5-1 covers three lighting units 1-3, that is, the light emitted by the three lighting units 1-3 is affected by The doctor's head is 4-1 covered. As shown in FIG. 2B, when the distance between the doctor 4 and the patient 3 is closer than the distance between the doctor 4 and the patient 3 shown in FIG. 2A, only one detector 1-4 in the lamp head system 1-2 detects the doctor ’s The projection area of the head 4-1 and the head 4-1 on the lamp head system 1-2 is the ellipse 5-2 in FIG. 2B. It can be seen that in FIG. 2B, the ellipse 5-2 and the ellipse 5-1 are not complete Overlapping, the ellipse 5-2 covers about 6 lighting units 1-3, which means that the light emitted by the 6 lighting units 1-3 is blocked by the doctor's head 4-1. As shown in FIG. 2B, when the doctor bends down to observe the surgical site of the patient 3, the distance between the doctor 4 and the patient 3 is closer than the distance between the doctor 4 and the patient 3 shown in FIG. 2B. At this time, the lamp head system 1- There is also only one detector in 2 and only one detector 4-1 detects the doctor's head 4-1, the projection area of the doctor's head 4-1 on the lamp head of the surgical lamp is the ellipse 5- in Fig. 2C 3. It can be seen that in Fig. 2C, the ellipse 5-3 and the ellipse 5-2 do not completely overlap. The ellipse 5-3 covers about 7.5 lighting units 1-3, that is, there are 7.5 lighting units 1-3 emitting The light is blocked by the doctor's head 4-1.

In summary, in the three cases shown in FIGS. 2A to 2C, only one detector 4-1 detects the doctor ’s head 4-1. Therefore, for the three types shown in FIGS. 2A to 2C In all cases, the same amount of light intensity compensation is used for light intensity compensation; however, due to the difference in the position of the doctor's head 4-1 and the distance from the patient 3, the ability to block the illumination light path of the surgical lamp is also different. In the three cases shown in 2A to 2C, the same light intensity compensation amount is used for light intensity compensation, which may cause the surgical lamp control system to be unable to compensate the light intensity of the surgical lamp stably and accurately according to the actual situation.

FIG. 3 is a schematic structural diagram of a system for implementing illumination of a surgical lamp in an embodiment of the present invention. As shown in FIG. 3, the surgical lamp 1 is located above the operating bed 2 and the patient 3, and the doctor 4 is located between the surgical lamp 1 and the patient 3; Including the suspension system 1-1 and the lamp head system 1-2, wherein the suspension system 1-1 is generally fixed on the ceiling of the operating room, used to fix and hang the lamp head system 1-2; the lamp head system 1-2 includes a lighting system, a lighting system Include one or more lighting units 1-3. When the surgical lamp 1 is working, the lighting unit 1-3 emits illumination light to form an optical path 1-6, so as to illuminate the surgical site of the patient 3, so that the doctor 4 can easily observe the surgical site.

Further, the surgical lamp 1 may further include a processor 1-9 and a sensor 6. With reference to FIG. 3, the sensor 6 may be located in the lamp head system 1-2, and the processor 1-9 may be disposed inside the lamp head system 1-2, or Set outside the lamp head system 1-2.

4 is a schematic diagram of a circuit structure involved in a surgical lamp in an embodiment of the present invention. With reference to FIG. 4, a processor 1-9 is respectively connected to a sensor 6 and a lighting system 11 including at least one lighting unit 1-3, wherein the processor 1-9 The data collected by the sensor 6 can be received, and the working parameters of the lighting system 11 can be configured. In specific implementations, the processors 1-9 can send instruction information to the lighting system 11, carrying at least one lighting unit 1 in the lighting system 11 in the instruction information -3 working parameters, after receiving the indication information, the lighting unit can emit light according to the corresponding working parameters; in practical applications, the working parameters can include light intensity, further, the working parameters can also include at least one of the following: spot size , Color temperature, working current, power.

In the embodiment of the present invention, the sensor 6 is configured to collect the characteristic information of the obstruction of the illumination system light source coverage (below the lamp head of the surgical lamp), and send the above characteristic information to the processor 1-9; here, the characteristic information is used to characterize the The spatial distribution characteristics of the obstruction. In one example, the characteristic information includes at least one of spatial position information, shape information, and size information; optionally, the characteristic information may include: spatial position information, shape information, and size information;

Here, the spatial position information of the covering object can represent the position information of the covering object in space; for example, referring to FIG. 3, when the covering object is the head and part of the shoulder of the doctor 4, the sensor 6 can collect the head and the head of the doctor 4. The relative position of the part of the shoulder and the sensor 6, and furthermore, combined with the position of the sensor 6 itself, the position information of the head of the doctor 4 and part of the shoulder in the space can be obtained.

The shape information of the covering object may represent the three-dimensional shape of the covering object. For example, the three-dimensional shape of the covering object may be spherical, cylindrical or other irregular shapes. Referring to FIG. 3, when the covering object is the head and part of the shoulder of the doctor 4, The three-dimensional shape of the head and part of the shoulder of the doctor 4 is irregular.

The size information of the covering can indicate the size of the covering in the coverage area of the light source of the lighting system; referring to FIG. 3, when the covering is the head and part of the shoulder of the doctor 4, the size information of the covering indicates the head of the doctor 4 and Part of the shoulder occupies the size of the light source coverage of the lighting system; in actual implementation, the size information of the covering may include the one-dimensional size, two-dimensional size or three-dimensional size of the covering, here, the one-dimensional size may include length, width, For information such as height, diameter, or radius, the two-dimensional size may include information such as area, and the three-dimensional size may include information such as volume.

In practical applications, the main function of the sensor 6 is to obtain the characteristic information of the obstruction within the coverage area of the light source of the lighting system, so as to facilitate the determination of the obstruction of the obstruction on the optical path of the lighting system; Defined, by way of example, the sensor 6 may be a three-dimensional (3D) time-of-flight image sensor or a binocular stereo vision sensor; when the sensor 6 is a 3D time-of-flight image sensor, the 3D time-of-flight image sensor may be used in conjunction with an imaging lens to operate lights 3D scan the space under the lamp head. For the scanning combination, the space position information, depth information, shape information and size information of the obstruction under the lamp head of the surgical lamp can be obtained by the time-of-flight method. When the sensor 6 is a binocular stereo vision sensor, the binocular stereo vision system can be used to cooperate with a specific calibration object, and the spatial position information, shape information, and size information of the covering under the lamp cap of the surgical lamp can also be obtained.

Further, the detection distance of the sensor 6 is greater than or equal to the distance from the illumination system 11 to the surgical site. In this way, it can be ensured that the sensor 6 can detect the obstruction within the coverage area of the light source of the illumination system 11.

The processors 1-9 are configured to receive the above characteristic information and obtain the light intensity distribution information of the lighting system 11; determine the light intensity compensation strategy of the lighting system 11 according to the above characteristic information and the light intensity distribution information; the light intensity compensation strategy includes at least one The light intensity adjustment of the lighting unit or the illumination angle adjustment including at least one lighting unit. Here, the light intensity distribution information acquired by the processors 1-9 is the light intensity distribution information when the lighting system 11 is working. In actual implementation, the processor 1-9 may predetermine the light intensity distribution information of the lighting system 11 or When the lighting system 11 is working, the light intensity distribution information of the lighting system 11 is acquired.

It can be understood that when the processors 1-9 receive the feature information of the obstruction within the coverage of the light source of the lighting system and obtain the above-mentioned light intensity distribution information, the degree of obstruction of the obstruction to the light path of the lighting system 11 can be determined, Furthermore, the light intensity of at least one lighting unit 1-3 in the lighting system 11 can be adjusted according to the degree of obstruction of the light path of the lighting system 11 by the blocking object to obtain the compensated light of at least one lighting unit 1-3 in the lighting system 11 Strong, or, according to the degree of obstruction of the light path of the lighting system 11 by the obstruction, adjust the irradiation angle of at least one lighting unit 1-3 in the lighting system 11; in practical applications, the processor 1-9 can control the addition of at least one lighting The light intensity of the unit 1-3 realizes the compensation of the light intensity of the at least one lighting unit 1-3, or controls to change the irradiation angle of the at least one lighting unit 1-3.

In practical applications, the processors 1-9 may be application specific integrated circuits (Application Specific Integrated Circuit (ASIC), DSP, digital signal processing device (Digital Signal Processing Device, DSPD), programmable logic device (Programmable Logic Device, PLD) , FPGA, CPU, controller, microcontroller, microprocessor at least one.

Further, the processors 1-9 are configured to determine the light intensity compensation strategy of the lighting system based on the characteristic information and the light intensity distribution information, including:

The processors 1-9 are configured to determine the occlusion area ratio based on the feature information and the light intensity distribution information, and determine the light intensity compensation strategy of the lighting system according to the occlusion area ratio, and the occlusion area ratio is used to characterize The degree of blocking of the light path of the lighting system by the blocking object.

In the related scheme for the light intensity compensation of the surgical lamp, the detector has a single function, few sampling points, and is not intelligent. The final compensation effect is not good even because the illuminance of the surgical site changes too quickly and other problems exist for the normal operation of the doctor. Certain interference, poor clinical effect.

In the embodiments of the present invention, the characteristics of doctors, especially doctors' heads and other coverings are continuously changed during the operation, and the blocking of different relative positions, shapes, and areas on the light path of the surgical lamp is different. , Using sensors to detect the obstruction between the surgical lamp and the surgical site in real time, after measuring the relative position, shape and size information of the obstruction and the relative position information of the surgical site, combining the relative position, shape, size of the surgical lamp, Information such as light intensity distribution can determine the spatial distribution of the light output from the surgical lamp; then, based on the above characteristic information and light intensity distribution information, the occlusion area ratio can be determined, that is, the degree of occlusion of the optical path of the at least one lighting unit by the obstruction can be determined , And then determine the illuminance change of the surgical site due to occlusion, and can determine the light intensity compensation strategy of the illumination system according to the degree of occlusion of the optical path of the at least one lighting unit by the occlusion object, and finally can ensure that no matter how the occlusion object under the surgical lamp changes But the illuminance of the patient's surgical site remains basically constant It is determined that the operation lamp has the best shadowless effect.

Further, the data collection frequency of the sensor 6 is greater than the first frequency threshold. When the data collection frequency of the sensor 6 is sufficiently high, and the data processing speed of the processor and the frequency of the light intensity compensation for the lighting unit are sufficiently high, surgery can be performed The illuminance of the part can be compensated in near real-time according to the degree of occlusion of the occlusion; in addition, the processor can accurately evaluate the degree of occlusion of the light path of the lighting unit by the occlusion according to the above characteristic information and light intensity distribution information. The degree of occlusion of the light path of the lighting unit by the object accurately and in real time compensates for the light intensity of the lighting unit. In this way, no matter whether the doctor's head or body and other obstacles enter or leave the lighting area of the surgical lamp, away from or close to the surgical site, It can ensure that the surgical part has sufficient illumination, so that the shadowless illumination effect of the surgical lamp can be improved.

In one example, the diameter of the lamp cap of the surgical lamp is about 500mm to 700mm, and the light exits the lamp cap and converges at a position about 1000mm away from the lamp cap, forming a spot with a diameter of about 200mm. In order to achieve a good shadowless effect of the light emitted by the surgical lamp, the light distribution at the light source of the surgical lamp head is relatively even, so that from the surgical lamp head to the surgical site, the spatial distribution of light in the space is a conical light column or a A light column with a large cross-sectional area near the lamp head, a small cross-sectional area far from the lamp head and near the surgical site. Therefore, the obstruction of the doctor's head and other obstructions at different spatial positions is different. In order to accurately assess how much light is blocked by the obstruction, it is necessary to accurately determine the space of these obstructions in the space of the surgical light column Position and occlusion area ratio.

In the first implementation manner in which the processor 1-9 determines the occlusion area ratio, the processor 1-9 may be configured to determine the first cross-section and the second cross-section based on the above characteristic information and light intensity distribution information, and according to the first cross-section and The second cross section determines the blocking area ratio, where the first cross section is the maximum blocking cross section of the light path of the lighting system by the blocking object, and the second cross section is the cross section obtained by the plane where the first cross section intersects the optical path of the at least one lighting unit, The blocking area ratio is the area ratio of the first cross-section to the second cross-section.

The following describes the first implementation manner of determining the occlusion area ratio by the processors 1-9 through FIG. 5, which is an implementation manner of determining the occlusion area ratio for the system structure shown in FIG. 3 in the embodiment of the present invention. Schematic diagram, as shown in FIG. 5, the sensor 6 is located in the lamp head system 1-2, and the sensor 6 has a certain detection range 7, which can cover most of the area under the lamp head of the surgical lamp, and can detect the head of the doctor under the lamp head 4-1 Position, shape, size and other information; the light emitted from the lamp of the surgical lamp forms a tapered light path 1-6 in the space below the lamp head, and the processor 1-9 can store the light intensity distribution information of the light column 1-6 in Within itself. When the doctor's head 4-1 and other obstructions are in the space under the lamp head of the surgical lamp, the sensor 6 can detect the spatial position information, shape information and size information of the obstruction relative to the optical path 1-6; the processor 1-9 can The information of the sensor 6 and the light intensity distribution information of the light path 1-6 comprehensively determine the cross-section of the blocker with the greatest shielding effect relative to the light path of the at least one lighting unit, that is, the first cross-section is determined; The position and the light intensity distribution information of the optical path 1-6 determine the second cross section. For example, referring to FIG. 5, the first cross-section 10 is located on the plane 8, the plane 8 is parallel to the exit plane of the lamp holder of the surgical lamp, and the second cross-section 9 is the cross-section of the optical path 1-6 on the plane 8, here, the first cross-section 10 and the second The cross-sections 9 are all ellipses, and the first cross-section 10 is completely in the second cross-section 9; at this time, the occlusion area ratio can be obtained. The occlusion area ratio is the area ratio of the first cross-section 10 and the second cross-section 9, in order to maintain the operation The illuminance of the part is basically constant, and the processors 1-9 can control to increase the light intensity of at least one lighting unit 1-3 according to the occlusion area ratio, or control to change the irradiation angle of at least one lighting unit 1-3.

In the second implementation manner in which the processor 1-9 determines the shielding area ratio, the processor 1-9 may be configured to determine, based on the above characteristic information and light intensity distribution information, the blocking surface of the light emitting surface of the lighting system 11 Effective blocking area, the blocking area ratio is determined according to the above-mentioned equivalent blocking area, wherein the above-mentioned equivalent blocking area is the projection area of the blocking object on the exit surface of the light path of the lighting system 11, and the blocking area ratio is the above-mentioned equivalent blocking area and the lighting system The area ratio of the exit surface of the optical path of 11.

The following describes the second implementation manner of determining the occlusion area ratio by the processors 1-9 through FIG. 6, which is two implementation manners of determining the occlusion area ratio for the system structure shown in FIG. 3 in the embodiment of the present invention. Schematic diagram, as shown in FIG. 6, the sensor 6 is located in the lamp head system 1-2, and the sensor 6 has a certain detection range 7, which can cover most of the area under the lamp head of the surgical lamp, and can detect the head of the doctor under the lamp head Information such as the position, shape, and size of 4-1 can also detect the position information of the surgical site 11. According to the design characteristics of the surgical lamp, the surgical site 11 is generally located at the convergence center of the surgical light column. In the processor 1-9, the exit surface of the light path of the lighting unit 1-3 can be set as the reference plane, the sensor 6 or the center of the lamp head The position is the origin of the reference coordinates (x0, y0, z0); the sensor 6 can first determine the coordinates of the surgical site 11 (x1, y1, z1) by detection, and then can determine the position coordinates of the center or approximate center of the obstruction (x2, y2, z2) and size information, then the position and area of the projection 12 of the obstruction on the exit surface of the light path of the lighting unit 1-3 can be calculated according to the projection relationship, where the center coordinate of the projection 12 is (x3, y3, z3 ). According to the position of the projection 12 on the exit surface of the light path of the lighting unit 1-3, calculate the equivalent blocking area of the obstruction in the exit surface of the at least one light path of the lighting unit 1-3; it should be noted that according to the geometric projection Relationship, the projection of the obstruction from the coordinates (x1, y1, z1) on the exit surface of the light path of the lighting unit 1-3 is not necessarily completely within the exit surface of the light path of the lighting unit 1-3, it may be Partly outside the exit surface of the light path of the lighting unit 1-3, the equivalent shielding area here is the area within the exit surface of the light path of the lighting unit 1-3 in projection 12; with reference to FIG. 6, the above-mentioned equivalent shielding area is oblique Line area 13; at this time, the occlusion area ratio can be obtained. The occlusion area ratio is the area ratio of the oblique line area 13 to the exit surface of the light path of the lighting unit 1-3; at this time, in order to keep the illuminance of the surgical site basically constant, the processor 1-9 can control to increase the light intensity of at least one lighting unit 1-3, or control to change the irradiation angle of at least one lighting unit 1-3 according to the ratio of the blocking area.

It should be noted that when the processor 1-9 determines that the covering object is a regular and symmetric object according to the shape information of the covering object, the coordinates of the center of the covering object can be determined according to the spatial position information, size information and shape information of the covering object ; When the processor 1-9 determines that the object is an irregular object or an asymmetric object according to the shape information of the object, the shape of the object can be approximated to obtain a regular and symmetric object shape, and then combined with the object The spatial position information and the size information can determine the coordinates of the center of the shield; the embodiment of the present invention does not limit the approximate processing method of the shape of the shield.

In actual implementation, when the processors 1-9 determine the occlusion area ratio, the light intensity compensation strategy of the lighting system may be determined according to the occlusion area ratio; for example, the above-mentioned light intensity distribution information further includes at least one lighting unit 1 -3 the current light intensity, the above-mentioned adjustment of the light intensity of the at least one lighting unit 1-3 includes obtaining the compensated light intensity of at least one lighting unit 1-3 yuan, and the processor may be configured according to the ratio of the occlusion area and at least one lighting unit 1-3 the current light intensity, determining the compensated light intensity of the at least one lighting unit. Specifically, the current light intensity of the at least one lighting unit 1-3 can be divided by the occlusion area ratio to obtain the compensated light intensity of the at least one lighting unit 1-3, and then, control the at least one lighting unit 1-3 according to The compensated light intensity emits light, so that it can basically ensure that the illuminance of the surgical site when the light path of the illumination unit 1-3 is blocked and the illuminance of the surgical site when the light path of the illumination unit 1-3 is not blocked are kept the same.

It should be noted that when the number of lighting units is greater than 1, the processor may divide the current light intensity of each lighting unit by the ratio of the occlusion area to obtain the compensated light intensity of each lighting unit, and then control each Each lighting unit emits light according to the compensated light intensity.

For the surgical lamp described above, an embodiment of the present invention also provides a method for controlling a surgical lamp. FIG. 7 is a flowchart of a method for controlling a surgical lamp according to an embodiment of the present invention. As shown in FIG. 7, the process may include:

Step 701: The sensor collects feature information of the obstruction within the coverage area of the light source of the lighting system, wherein the feature information is used to characterize the spatial distribution characteristics of the obstruction.

Step 702: The processor obtains the characteristic information, obtains the light intensity distribution information of the lighting system, and determines the light intensity compensation strategy of the lighting system according to the characteristic information and the light intensity distribution information. The compensation strategy includes adjustment of light intensity of at least one lighting unit or adjustment of illumination angle of at least one lighting unit.

Step 703: The lighting system executes the light intensity compensation strategy according to the processor instruction.

In one embodiment, the sensor is a three-dimensional time-of-flight image sensor or a binocular stereo vision sensor.

In one embodiment, the detection distance of the sensor is greater than or equal to the distance from the illumination system to the surgical site.

In one embodiment, the characteristic information includes at least one of spatial position information, shape information, and size information.

In an embodiment, the determining the light intensity compensation strategy of the lighting system according to the characteristic information and the light intensity distribution information includes:

According to the characteristic information and the light intensity distribution information, determine the occlusion area ratio, and determine the light intensity compensation strategy of the lighting system according to the occlusion area ratio, the occlusion area ratio is used to characterize the The degree of occlusion of the light path of the lighting system.

In an embodiment, the determining the occlusion area ratio according to the feature information and the light intensity distribution information includes:

According to the characteristic information and the light intensity distribution information, a first cross section and a second cross section are determined, and the blocking area ratio is determined according to the first cross section and the second cross section, wherein the first cross section is the The maximum cross-section of the obstruction to the optical path of the lighting system, the second cross-section is a cross-section obtained by the plane where the first cross-section lies and the optical path of the at least one lighting unit, and the blocking area ratio is the first The area ratio of a cross section to the second cross section.

According to the characteristic information and the light intensity distribution information, determine an equivalent blocking area of the blocking object on the exit surface of the light path of the lighting system, and determine the blocking area ratio according to the equivalent blocking area, wherein The equivalent blocking area is the projection area of the blocking object on the exit surface of the light path of the lighting system, and the blocking area ratio is the area ratio of the equivalent blocking area and the exit surface of the light path of the lighting system .

In an embodiment, the light intensity distribution information further includes the current light intensity of the at least one lighting unit, and the adjustment of the light intensity of the at least one lighting unit includes adjusting the compensated light intensity of the at least one lighting unit;

The determining the light intensity compensation strategy of the lighting system according to the occlusion area ratio includes:

The compensated light intensity of the at least one lighting unit is determined according to the blocking area ratio and the current light intensity of the at least one lighting unit.

The computer program instructions corresponding to a surgical lamp control method in the embodiment of the present invention may be stored on a storage medium such as an optical disk, a hard disk, or a USB flash drive. When the computer program instructions corresponding to a surgical lamp control method in the storage medium are When an electronic device reads or is executed, it implements any method for controlling a surgical lamp in the foregoing embodiments.

Based on the same technical concept of the foregoing embodiment, referring to FIG. 8, which shows a computer device 80 provided by an embodiment of the present invention, may include: a memory 81 and a processor 1-9; wherein, the processor 1-9 For communicating with the surgical lamp, the surgical lamp includes a sensor provided on the lamp cap of the surgical lamp and a lighting system including at least one lighting unit;

The processor 1-9 is configured to obtain the characteristic information of the obstruction within the coverage of the light source of the lighting system collected by the sensor, to obtain the light intensity distribution information of the lighting system, according to the characteristic information and the light intensity distribution Information to determine the light intensity compensation strategy of the lighting system, so that the lighting system executes the light intensity compensation strategy according to a processor instruction, the light intensity compensation strategy includes light intensity adjustment of at least one lighting unit or includes at least The illumination angle of a lighting unit is adjusted, wherein the characteristic information is used to characterize the spatial distribution characteristics of the obstruction;

The memory 81 stores computer readable instructions, which when executed by the processors 1-9, cause the processors 1-9 to implement the configuration of the processors when executed.

In practical applications, the above-mentioned memory 81 may be volatile memory (volatile memory), such as RAM; or non-volatile memory (non-volatile memory), such as ROM, flash memory (flash memory), hard disk (Hard Disk) Drive (HDD) or Solid-State Drive (SSD); or a combination of the above types of memory, and provide instructions and data to the processors 1-9.

An embodiment of the present invention also provides another computer storage medium on which a computer program is stored, wherein, when the computer program is executed by a processor, the following method is implemented:

The technical solutions described in the embodiments of the present invention can be arbitrarily combined without conflict.

In the several embodiments provided by the present invention, it should be understood that the disclosed method and smart device may be implemented in other ways. The device embodiments described above are only schematic. For example, the division of the unit is only a division of logical functions. In actual implementation, there may be another division manner, for example, multiple units or components may be combined, or Can be integrated into another system, or some features can be ignored, or not implemented. In addition, the coupling or direct coupling or communication connection between the displayed or discussed components may be through some interfaces, and the indirect coupling or communication connection of the device or unit may be electrical, mechanical, or other forms of.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units; Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, the functional units in the embodiments of the present invention may all be integrated into one second processing unit, or each unit may be separately used as a unit, or two or more units may be integrated into one unit; The above integrated unit can be implemented in the form of hardware, or in the form of hardware plus software functional units.

The above are only specific embodiments of the present invention, but the scope of protection of the present invention is not limited to this. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present It should be covered by the scope of protection of this application.

According to a technical solution provided by an embodiment of the present invention, a surgical lamp includes a processor, a sensor provided on the lamp cap of the surgical lamp, and a lighting system including at least one lighting unit; the sensor is configured to collect occlusion within the coverage of the light source of the lighting system Characteristic information of an object, wherein the characteristic information is used to characterize the spatial distribution characteristics of the obstruction; the processor is configured to obtain the characteristic information, obtain the light intensity distribution information of the lighting system, and according to the characteristics Information and the light intensity distribution information to determine a light intensity compensation strategy of the lighting system, the light intensity compensation strategy including light intensity adjustment of at least one lighting unit or illumination angle adjustment including at least one lighting unit; the lighting system It is configured to execute the light intensity compensation strategy according to processor instructions. With the solution provided by the embodiment of the present invention, the light intensity of at least one lighting unit can be compensated based on the above-mentioned feature information and light intensity distribution information; in the light intensity compensation scheme of the existing surgical lamp, only whether an obstruction is detected The judgment result is based on the light intensity compensation. In the embodiment of the present invention, the light intensity compensation basis not only includes the judgment result of whether an obstruction is detected, but also includes the spatial position information, shape information and size information of the obstruction In this way, compared with the prior art, the embodiments of the present invention can realize stable and accurate compensation of the light intensity of the lighting unit according to the above-mentioned feature information of the blocking object.

Claims

A surgical lamp, wherein the surgical lamp includes a processor, a sensor provided on the lamp cap of the surgical lamp, and a lighting system including at least one lighting unit;

The sensor is configured to collect feature information of the obstruction within the coverage of the light source of the lighting system, wherein the feature information is used to characterize the spatial distribution characteristics of the obstruction;

The processor is configured to obtain the characteristic information, obtain the light intensity distribution information of the lighting system, and determine the light intensity compensation strategy of the lighting system according to the characteristic information and the light intensity distribution information, the light The strong compensation strategy includes light intensity adjustment of at least one lighting unit or illumination angle adjustment of at least one lighting unit;

The lighting system is configured to execute the light intensity compensation strategy according to processor instructions.
The surgical lamp according to claim 1, wherein the sensor is a three-dimensional time-of-flight image sensor or a binocular stereo vision sensor.
The surgical lamp according to claim 1, wherein the detection distance of the sensor is greater than or equal to the distance from the illumination system to the surgical site.
The surgical lamp according to claim 1, wherein the characteristic information includes: spatial position information, shape information, and size information.
The surgical lamp according to any one of claims 1 to 4, wherein the processor is configured to determine the light intensity compensation strategy of the lighting system based on the characteristic information and the light intensity distribution information, including:

The processor is configured to determine an occlusion area ratio based on the characteristic information and the light intensity distribution information, and determine a light intensity compensation strategy of the lighting system according to the occlusion area ratio, and the occlusion area ratio is used to characterize The blocking degree of the blocking object to the light path of the lighting system.
The surgical lamp according to claim 5, wherein the processor is configured to determine the occlusion area ratio based on the characteristic information and the light intensity distribution information, including:

The processor is configured to determine a first section and a second section based on the characteristic information and the light intensity distribution information, and determine the occlusion area ratio according to the first section and the second section, wherein the The first cross section is the maximum blocking cross section of the light path of the lighting system by the blocking object, and the second cross section is a cross section obtained by a plane where the first cross section intersects the optical path of the at least one lighting unit. The area ratio is the area ratio of the first cross-section to the second cross-section.
The surgical lamp according to claim 5, wherein the processor is configured to determine the occlusion area ratio based on the characteristic information and the light intensity distribution information, including:

The processor is configured to determine an equivalent blocking area of the blocking object on the exit surface of the light path of the lighting system based on the characteristic information and the light intensity distribution information, and determine the blocking area according to the equivalent blocking area The blocking area ratio, wherein the equivalent blocking area is the projection area of the blocking object on the exit surface of the light path of the lighting system, and the blocking area ratio is the optical path of the equivalent blocking area and the lighting system The area ratio of the exit surface.
The surgical lamp according to claim 5, wherein the light intensity distribution information further includes the current light intensity of the at least one lighting unit, and the light intensity adjustment of the at least one lighting unit includes after compensation by the at least one lighting unit The light intensity of the processor is configured to determine the light intensity compensation strategy of the lighting system according to the occlusion area ratio, including:

The processor is configured to determine the compensated light intensity of the at least one lighting unit according to the occlusion area ratio and the current light intensity of the at least one lighting unit.
A computer device, including a memory and a processor, wherein the processor is used to communicate with a surgical lamp, the surgical lamp includes a sensor disposed on a lamp head of the surgical lamp and a lighting system including at least one lighting unit;

The processor is configured to obtain characteristic information of the obstruction within the coverage of the light source of the lighting system collected by the sensor, obtain light intensity distribution information of the lighting system, and determine according to the characteristic information and the light intensity distribution information A light intensity compensation strategy of the lighting system, so that the lighting system executes the light intensity compensation strategy according to a processor instruction, the light intensity compensation strategy includes light intensity adjustment of at least one lighting unit or includes at least one lighting unit Adjustment of the illumination angle, wherein the characteristic information is used to characterize the spatial distribution characteristics of the obstruction;

The memory stores computer readable instructions, which when executed by the processor, causes the processor to implement the configuration of the processor when executed.
A computer storage medium on which a computer program is stored, wherein, when the computer program is executed by a processor, the following method is implemented:

Acquiring the characteristic information of the obstruction within the coverage of the light source of the lighting system collected by the sensor, obtaining the light intensity distribution information of the lighting system, and determining the light intensity compensation strategy of the lighting system according to the characteristic information and the light intensity distribution information, So that the lighting system executes the light intensity compensation strategy according to a processor instruction, the light intensity compensation strategy includes light intensity adjustment of at least one lighting unit or illumination angle adjustment of at least one lighting unit, wherein the characteristic information It is used to characterize the spatial distribution characteristics of the obstruction.
A method for controlling a surgical lamp, wherein the surgical lamp includes a processor, a sensor provided on the lamp cap of the surgical lamp, and a lighting system including at least one lighting unit, the method includes:

The sensor collects feature information of the obstruction within the coverage of the light source of the lighting system, wherein the feature information is used to characterize the spatial distribution characteristics of the obstruction;

The processor obtains the characteristic information, obtains the light intensity distribution information of the lighting system, and determines the light intensity compensation strategy of the lighting system according to the characteristic information and the light intensity distribution information, and the light intensity compensation The strategy includes adjustment of light intensity of at least one lighting unit or adjustment of illumination angle of at least one lighting unit;

The lighting system executes the light intensity compensation strategy according to processor instructions.
The method according to claim 11, wherein the sensor is a three-dimensional time-of-flight image sensor or a binocular stereo vision sensor.
The method of claim 11, wherein the detection distance of the sensor is greater than or equal to the distance from the illumination system to the surgical site.
The method according to claim 11, wherein the characteristic information includes: spatial position information, shape information, and size information.
The method according to any one of claims 11 to 14, wherein the determining the light intensity compensation strategy of the lighting system according to the characteristic information and the light intensity distribution information includes:

According to the characteristic information and the light intensity distribution information, determine the occlusion area ratio, and determine the light intensity compensation strategy of the lighting system according to the occlusion area ratio, the occlusion area ratio is used to characterize the The degree of occlusion of the light path of the lighting system.
The method according to claim 15, wherein the determining the occlusion area ratio according to the characteristic information and the light intensity distribution information includes:

According to the characteristic information and the light intensity distribution information, a first cross section and a second cross section are determined, and the blocking area ratio is determined according to the first cross section and the second cross section, wherein the first cross section is the The maximum cross-section of the obstruction to the optical path of the lighting system, the second cross-section is a cross-section obtained by the plane where the first cross-section lies and the optical path of the at least one lighting unit, and the blocking area ratio is the first The area ratio of a cross section to the second cross section.
The method according to claim 15, wherein the determining the occlusion area ratio according to the characteristic information and the light intensity distribution information includes:

According to the characteristic information and the light intensity distribution information, determine an equivalent blocking area of the blocking object on the exit surface of the light path of the lighting system, and determine the blocking area ratio according to the equivalent blocking area, wherein The equivalent blocking area is the projection area of the blocking object on the exit surface of the light path of the lighting system, and the blocking area ratio is the area ratio of the equivalent blocking area and the exit surface of the light path of the lighting system .
The method according to claim 15, wherein the light intensity distribution information further includes the current light intensity of the at least one lighting unit, and the adjustment of the light intensity of the at least one lighting unit includes adjusting after obtaining compensation from the at least one lighting unit Light intensity

The determining the light intensity compensation strategy of the lighting system according to the occlusion area ratio includes:

The compensated light intensity of the at least one lighting unit is determined according to the blocking area ratio and the current light intensity of the at least one lighting unit.
A computer storage medium on which a computer program is stored, wherein when the computer program is executed by a processor, the method according to any one of claims 11 to 18 is implemented.