CN104252225A - Motion control medical equipment and medical equipment motion control method - Google Patents
Motion control medical equipment and medical equipment motion control method Download PDFInfo
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- CN104252225A CN104252225A CN201310263037.9A CN201310263037A CN104252225A CN 104252225 A CN104252225 A CN 104252225A CN 201310263037 A CN201310263037 A CN 201310263037A CN 104252225 A CN104252225 A CN 104252225A
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Abstract
The invention discloses motion control medical equipment and a medical equipment motion control method. The motion control medical equipment comprises a motion sensor for the medical equipment, a motion controller for the medical equipment, and a medical equipment body, wherein the motion sensor is used for collecting space coordinate information of the palm and/or fingers of a user and sending the space coordinate information to the motion controller for the medical equipment; the motion controller is used for generating motion information according to the space coordinate information from the motion sensor and sending motion commands corresponding to the motion information to the medical equipment; the medical equipment body is used for determining button commands corresponding to the motion commands from the motion controller according to the corresponding relation between the motion commands and the button commands and performing operation motion on the medical equipment body by the motion controller according to the button commands. The motion control medical equipment is operated through gestures, and the accuracy and the timeliness of the control of the medical equipment are improved.
Description
Technical field
The present invention relates to field of medical technology, particularly relate to a kind of body sense and control Medical Devices and medical device body sense control method.
Background technology
In situations in the surgery room, around patient visual area, the both hands of doctor, operating theater instruments were all done and were disinfected, and were all aseptic.The control panel of various Medical Instruments but can not be disinfected, and carries disease germs.In surgical procedure, the receipts of doctor can not contact anyly has equal article, otherwise can cause cross-infection, thus causes patient to come to harm.
Then, carry out in process in operation, need unavoidably to adjust Medical Devices, complete operation with assist physician.
The control mode of existing Medical Devices has by manipulating with common key-press, knob or touch-screen.When medical personnel are when operating these Medical Devices, all need to contact these Medical Devices.In order to avoid cross-infection, doctor oneself can not operate these equipment, but needs other staff, and such as circuit nurse or Anesthetist assist operation.
Control Medical Devices in prior art and can cause following shortcoming:
Need more staff to assist in surgical procedure, and the manipulation of other staff to Medical Devices is difficult to the requirement reaching doctor fast and accurately.
In emergency operation process, the accuracy and the promptness that improve manipulation Medical Devices are technical matterss urgently to be resolved hurrily.
Summary of the invention
The present invention, for solving the problems of the technologies described above, provides the body sense control method that a kind of body sense controls Medical Devices and Medical Devices.It manipulates Medical Devices by gesture, improves accuracy and the promptness of manipulation Medical Devices.
A kind of body sense provided by the invention controls Medical Devices, comprising: Medical Devices body, for the body propagated sensation sensor of Medical Devices, the body sense controller for Medical Devices;
The described body propagated sensation sensor for Medical Devices, for the spatial coordinated information of the palm and/or finger that gather user, and is used for the body sense controller of Medical Devices described in being sent to by this spatial coordinated information;
The described body sense controller for Medical Devices, for generating movable information according to the spatial coordinated information from described body propagated sensation sensor, and is sent to described Medical Devices by movement instruction corresponding for this movable information;
Described Medical Devices body, for according to the corresponding relation between movement instruction and key command, determine from key command corresponding to the movement instruction of described body sense controller, and according to the control action that this key command carries out Medical Devices body the described body sense controller of execution.
Wherein, the described body propagated sensation sensor for Medical Devices, comprising:
Mark distribution module for distributing a unique palm mark for each palm in described body propagated sensation sensor induction range, and is that the unique finger of each finger distribution one identifies;
Coordinate record module, for the spatial coordinated information recording described palm and point relative to described sensor;
Coordinate sending module, the spatial coordinated information for described coordinate record module being recorded is sent to the body sense controller be connected with this body propagated sensation sensor.
Wherein, the coordinate information recorded in described coordinate record module empties automatically when described palm and/or finger leave in the induction range of described body propagated sensation sensor.
Wherein, the described body sense controller for Medical Devices, comprising:
Instruction preset module, for preset movable information and the corresponding relation that prestores between gesture and movement instruction;
Input/output module, for receiving the spatial coordinated information of autologous propagated sensation sensor;
Processing module, generates movable information for the spatial coordinated information described input/output module received, and by this movable information compared with the gesture that prestores in described instruction preset module, judges the gesture that this movable information is corresponding and movement instruction;
Communication module, the movement instruction for described processing module being judged is sent to Medical Devices body to manipulate described Medical Devices body.
Wherein, described processing module comprises:
Movable information generation unit, for the spatial coordinated information of the present frame that receives according to described input/output module and former frame, generates movable information;
Movement instruction identifying unit, for the movable information that generated by described movable information generation unit compared with the gesture that prestores in described instruction preset module, judges the gesture that this movable information is corresponding and movement instruction.
Wherein, the movable information that described movable information generation unit generates comprises:
The speed of palm translation, direction; Palm position; The direction that palm rotates and angle; Finger fingertip position; The direction of motion of finger fingertip; The movement velocity of finger fingertip.
Wherein, described Medical Devices body, comprising:
Instruction configuration module, for configuring the corresponding relation between gesture instruction and key command;
Command reception module, for receiving the gesture instruction from described body sense controller;
Command process module, for according to the corresponding relation between the preset gesture instruction of described instruction preset module and key command, determines the key command that finger instruction that described command reception module receives is corresponding;
Instruct execution module, for the key command determined according to described command process module, manipulates described Medical Devices body.
Wherein, described Medical Devices body comprises: operating lamp, operation table, medical hoist tower, Medical hanging bridge or patient monitor.
Accordingly, the present invention also provides a kind of body sense control method of Medical Devices, and the aforesaid body sense of described method controls Medical Devices and realizes, and comprising:
Gather the palm of user and/or the spatial coordinated information of finger by the described body propagated sensation sensor for Medical Devices, and described in being sent to by this spatial coordinated information, be used for the body sense controller of Medical Devices;
Generate movable information by described body sense controller according to the spatial coordinated information from described body propagated sensation sensor, and movement instruction corresponding for this movable information is sent to described Medical Devices;
By described Medical Devices body according to the corresponding relation between movement instruction and key command, determine from key command corresponding to the movement instruction of described body sense controller, and according to the control action that this key command carries out Medical Devices body the described body sense controller of execution.
Wherein, described by the described collection palm of user of the body propagated sensation sensor for Medical Devices and/or the spatial coordinated information of finger, and described in being sent to by this spatial coordinated information, be used for the body sense controller of Medical Devices, comprising:
For each palm in described body propagated sensation sensor induction range distributes a unique palm mark, and be that the unique finger of each finger distribution one identifies;
The spatial coordinated information recording described palm and point relative to described sensor;
The spatial coordinated information of described record is sent to the body sense controller be connected with this body propagated sensation sensor.
Wherein, described method also comprises:
Time in the induction range that described palm and/or finger leave described body propagated sensation sensor, the coordinate information of described record empties automatically.
Wherein, described by described body sense controller according to the spatial coordinated information generation movable information from described body propagated sensation sensor, and movement instruction corresponding for this movable information is sent to described Medical Devices, comprises:
Preset movable information and the corresponding relation prestored between gesture and movement instruction;
Receive the spatial coordinated information of autologous propagated sensation sensor;
The described spatial coordinated information received is generated movable information, and by this movable information compared with the described gesture that prestores, judges the gesture that this movable information is corresponding and movement instruction;
The movement instruction of described judgement is sent to Medical Devices body to manipulate described Medical Devices body.
Wherein, the described spatial coordinated information received is generated movable information, comprising:
According to the spatial coordinated information of the present frame received and former frame, generate movable information;
By the movable information of described generation compared with the described gesture that prestores, judge the gesture that this movable information is corresponding and movement instruction.
Wherein, the movable information of described generation comprises:
The speed of palm translation, direction; Palm position; The direction that palm rotates and angle; Finger fingertip position; The direction of motion of finger fingertip; The movement velocity of finger fingertip.
Wherein, described by described Medical Devices body according to the corresponding relation between movement instruction and key command, determine from key command corresponding to the movement instruction of described body sense controller, and according to the control action that this key command carries out Medical Devices body the described body sense controller of execution, comprising:
Corresponding relation between configuration gesture instruction and key command;
Receive the gesture instruction from described body sense controller;
According to the corresponding relation between described preset gesture instruction and key command, the key command that the finger instruction received described in determining is corresponding;
According to the described key command determined, described Medical Devices body is manipulated.
Implement the present invention, there is following beneficial effect:
Control in Medical Devices owing to the invention provides body sense, the palm of user and/or the spatial coordinated information of finger can be gathered by body propagated sensation sensor, and body sense controller generates movable information according to spatial coordinated information, and judge the gesture instruction that this movable information is corresponding, realize controlling the operation of Medical Devices body with this gesture instruction, whole process only needs the user of Medical Devices to complete separately, doctor oneself can adjust the parameter of equipment as required, thus improve the precision of equipment adjustment, the efficiency of operation can be improved like this, reduce the risk of the maloperation brought because of communication, it also avoid in surgical procedure simultaneously, because of the needs of Medical Devices adjustment, and cause the appearance of cross-infection.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
The structural representation of the body sense control Medical Devices that Fig. 1 provides for one embodiment of the invention.
The structural representation of the body propagated sensation sensor of the body sense control Medical Devices that Fig. 2 provides for one embodiment of the invention.
The structural representation of the body sense controller of the body sense control Medical Devices that Fig. 3 provides for one embodiment of the invention.
Fig. 4 is the schematic diagram that the body sense of one embodiment of the invention controls the installation site of the body propagated sensation sensor in Medical Devices.
Fig. 5 is the scheme of installation of body propagated sensation sensor in A1 position in Fig. 4.
Fig. 6 is the scheme of installation of body propagated sensation sensor in A2 position in Fig. 4.
Fig. 7 is the scheme of installation of body propagated sensation sensor in A3 position in Fig. 4.
Fig. 8 is the coordinate system schematic diagram of the body propagated sensation sensor of the body sense control Medical Devices of one embodiment of the invention.
Fig. 9 is the structural representation of the body sense control Medical Devices of one embodiment of the invention.
Figure 10 is the body sense control Medical Devices of one embodiment of the invention is the operating lamp product architecture schematic diagram being with mid-camera.
Figure 11 is the operating lamp product architecture schematic diagram that the body sense of one embodiment of the invention controls that Medical Devices are external camera.
Figure 12 is the body sense control Medical Devices of one embodiment of the invention is the configuration diagram of operation table.
Figure 13 is the schematic flow sheet of the body sense control method of a kind of Medical Devices of one embodiment of the invention.
Figure 14 is the another schematic flow sheet of the body sense control method of a kind of Medical Devices of one embodiment of the invention.
Embodiment
The present invention proposes a kind of in the touchless body sense control technology scheme of operating room aseptic area to Medical Devices.The appointed area that concrete be at aseptic area, coordinates to come to Medical Devices sending controling instruction by the form pointed, action or form and action, thus realizes the touchless control to Medical Devices.
As shown in Figure 1, the body sense that one embodiment of the invention provides controls Medical Devices and comprises body propagated sensation sensor 1, body sense controller 2 and Medical Devices body 3.
The described body propagated sensation sensor 1 for Medical Devices, for the spatial coordinated information of the palm and/or finger that gather user, and is used for the body sense controller of Medical Devices described in being sent to by this spatial coordinated information;
The described body sense controller 2 for Medical Devices, for generating movable information according to the spatial coordinated information from described body propagated sensation sensor 1, and is sent to described Medical Devices 3 by movement instruction corresponding for this movable information;
Described Medical Devices body 3, for according to the corresponding relation between movement instruction and key command, determine from key command corresponding to the movement instruction of described body sense controller 2, and according to the control action that this key command carries out Medical Devices body 3 the described body sense controller of execution.
See Fig. 2, control the structural representation of the body propagated sensation sensor of Medical Devices for body sense provided by the invention.
As described in Figure 2, this body propagated sensation sensor 1, comprising:
Mark distribution module 10 for distributing a unique palm mark for each palm in described body propagated sensation sensor induction range, and is that the unique finger of each finger distribution one identifies;
Coordinate record module 11, for the spatial coordinated information recording described palm and point relative to described sensor; Wherein, automatically empty when in described coordinate record module 11, the coordinate information of record is in the induction range that described palm and/or finger leave described body propagated sensation sensor.
Coordinate sending module 12, the spatial coordinated information for described coordinate record module 11 being recorded is sent to the body sense controller be connected with this body propagated sensation sensor.
See Fig. 3, control the structural representation of the body sense controller of Medical Devices for body sense provided by the invention.
This body sense controller 2, comprises
Instruction preset module 20, for preset movable information and the corresponding relation that prestores between gesture and movement instruction;
Input/output module 21, for receiving the spatial coordinated information of autologous propagated sensation sensor;
Processing module 22, generates movable information for the spatial coordinated information described input/output module 21 received, and by this movable information compared with the gesture that prestores in described instruction preset module 20, judges the gesture that this movable information is corresponding and movement instruction;
Wherein, described processing module 22 comprises:
Movable information generation unit 220, for the spatial coordinated information of the present frame that receives according to described input/output module 21 and former frame, generates movable information;
Movement instruction identifying unit 221, for the movable information that generated by described movable information generation unit 220 compared with the gesture that prestores in described instruction preset module 20, judges the gesture that this movable information is corresponding and movement instruction.
Communication module 23, the movement instruction for described processing module 22 being judged is sent to Medical Devices to manipulate described Medical Devices body.
In specific implementation, body propagated sensation sensor can catch user's gesture, span coordinate information, imports body sense controller into by input/output module (I/O module).Body sense controller generates movable information according to this spatial coordinated information, and the gesture prestored in this movable information and system is contrasted, and judges which gesture it belongs to, then by communication module by the movement instruction of gesture issuing Medical Devices.Communication module can transmit in a wired fashion, wireless infrared transmitting, also can configure bluetooth, zigbee, etc. wireless radiofrequency module, be wirelessly connected with Medical Devices.In specific implementation, Medical Devices can be operating lamps, also can be the medical equipments such as operation table, medical hoist tower, Medical hanging bridge or patient monitor.
To take Medical Devices as operating lamp for example is described the installation site of body propagated sensation sensor below, as shown in Figure 4 to 7:
Wherein, A1, A4 are the instance graphs that body propagated sensation sensor is arranged on immediately below operating lamp central rotating body.Rotary body bottom opening, body propagated sensation sensor can pass through perforate Received signal strength.
A2, A5 are the instance graphs that body propagated sensation sensor is arranged on before and after lamp holder between cover.Body propagated sensation sensor can be arranged on lamp adapter assembly inside, between lamp back cover and face glass; Also can be fixed in covering, also can be fixed on the back cover of top.
A3, A6 are the instance graphs that body propagated sensation sensor is arranged on spring arm.Body propagated sensation sensor can by one independently mounting structure be arranged on the spring arm of operating lamp, this mounting structure can around under spring arm adapter axis rotate.
The installation site of the body propagated sensation sensor that Fig. 4 to Fig. 7 illustrates is only the example of several reality.In embodiments of the invention, body propagated sensation sensor also can be arranged on other position be applicable to according to actual conditions, and is not confined in the position described by Fig. 4 to Fig. 7.
Be arranged on immediately below operating lamp central rotating body for body propagated sensation sensor below and its principle of work is described, as shown in Figure 8, with the center of body propagated sensation sensor for origin sets up a rectangular coordinate system, the X-axis of coordinate is parallel to sensor, points to the long limit of body propagated sensation sensor.Y-axis is parallel to body propagated sensation sensor, points to body propagated sensation sensor minor face.Vertical and the body propagated sensation sensor surfaces of Z axis, away from body propagated sensation sensor.Unit can select as required, such as, can be millimeter.
Body propagated sensation sensor can distribute a unique ID (supporting one-handed performance and bimanualness) to each palm occurred within sweep of the eye and each finger, and record the volume coordinate (tri-vector of each ID, relative to sensor coordinates initial point, millimeter is unit).Once palm or finger leave field range, its ID can empty automatically, and stops current operation.This spatial coordinated information can timed sending to sensing controler, every part of such spatial coordinated information is called frame.
The spatial coordinated information that sensing controler can detect according to every frame and front frame, generates movable information.These movable informations comprise:
The speed of palm translation, direction;
Palm position;
The direction that palm rotates and angle;
Finger fingertip position;
The direction of motion of finger fingertip;
The movement velocity of finger fingertip;
Movable information and preset gesture contrast by body sense controller, judge which gesture it belongs to.
Such as, in an embodiment, the gesture of movable information and system intialization and the corresponding relation of movement instruction can be as shown in table 1 below:
It should be noted that, in table 1, also show the corresponding relation between movement instruction and the button of reality.
Some gestures and the corresponding relation with movement instruction thereof is illustrated in table 1.But the present invention is not limited to this.In embodiments of the invention, the corresponding relation of gesture and gesture and movement instruction can be determined according to actual conditions such as the type of Medical Devices, practical operation need, and what enumerate in table 1 is only some examples wherein.
Shown in Figure 9, for body sense of the present invention controls the Medical Devices body construction schematic diagram of Medical Devices.
Medical Devices body in the present invention, comprising:
Instruction configuration module 30, for configuring the corresponding relation between movement instruction and key command;
Command reception module 31, for receiving the movement instruction of autologous sense controller;
Command process module 32, for according to the corresponding relation between the preset movement instruction of described instruction preset module 30 and key command, determines the key command that movement instruction that described command reception module 31 receives is corresponding;
Instruct execution module 33, for the key command determined according to described command process module 32, manipulates described Medical Devices body.
In specific implementation, Medical Devices can be operating lamp, operation table, medical hoist tower, patient monitor etc. equipment.
Controlling Medical Devices for body sense is the embodiment of operating lamp, and the command reception module Long-distance Control port that specifically arm control plate is reserved, movement instruction is received by arm control plate.
After arm control plate receives movement instruction, judge movement instruction corresponds to which button of arm control plate, and call the clicked function of this button.Such as input amplifying gesture, transmission instruction is ZOOM_OUT.Arm control plate receives after instruction, judge ZOOM_OUT instruction corresponding be arm control plate camera amplifying key-press, call the function of camera enlargement key, function process is afterwards consistent with the original disposal route of operating lamp.
It should be noted that, each action or gesture are configurable items, user can according to the custom of oneself configure in the instruction configuration module of Medical Devices its belong to single-click operation still belong to adopting consecutive click chemical reaction operation.
Such as body propagated sensation sensor detects that hot spot tunes up gesture, can send FACULA_UP instruction always, until body propagated sensation sensor detects that clench fist gesture or hot spot tune up gesture and to disappear or gesture exceeds field range (ID is cleared), stops sending FACULA_UP instruction.If be configured to single-click operation on operating lamp, operating lamp only responds primary FACULA_UP instruction, and same instructions is afterwards ignored and do not responded; If be configured to adopting consecutive click chemical reaction operation, operating lamp responds FACULA_UP instruction always, and hot spot continues to tune up.Until do not receive FACULA_UP instruction or receive other instructions.
As shown in Figure 10, be body sense control Medical Devices be the operating lamp product architecture schematic diagram being with mid-camera.
In the present embodiment, operation arm control plate is as command reception module, and movement instruction is received by arm control plate of performing the operation.This movement instruction can control lamp holder and camera simultaneously.
As shown in figure 11, be the operating lamp product architecture schematic diagram that body sense controls that Medical Devices are external camera.
In the present embodiment, CCD arm control plate is as command reception module, and movement instruction is received by CCD arm control plate.This movement instruction is only to control this camera.
Other body sense controls in Medical Devices embodiment, and such as, during operation table as shown in figure 12, movement instruction is received by the Long-distance Control port of the standby panel of operation table.After standby panel receives movement instruction, judge which button movement instruction corresponds to, and call the clicked function of this button.Such as input rising gesture, transmission instruction is BASE_UP.Standby panel receives after instruction, judge BASE_UP instruction corresponding be standby panel lifting key, call the function of lifting key, function process is afterwards consistent with the original disposal route of operation table.
Each action or gesture are configurable items, user can according to the custom of oneself configure its belong to single-click operation still belong to adopting consecutive click chemical reaction operation.Such as body propagated sensation sensor detects rising gesture, can send BASE_UP instruction always, until body propagated sensation sensor detects that clench fist gesture or the disappearance of rising gesture or gesture exceed field range (ID is cleared), stops sending BASE_UP instruction.If be configured to single-click operation, operation table only responds primary BASE_UP instruction, and same instructions is afterwards ignored and do not responded; If be configured to adopting consecutive click chemical reaction operation, operation table responds BASE_UP instruction always, and operation table continues upward movement, until do not receive BASE_UP instruction or receive other instructions, operation table stop motion.
Be more than several embodiments of Medical Devices, be only illustrate at this, the embodiment of Medical Devices is not limited only to this.
The embodiment of the body sense control method of a kind of Medical Devices provided by the invention will be described in detail below.
Medical device body sense control method of the present invention controls Medical Devices by body sense and realizes, and as shown in figure 13, it comprises:
Step 200, gathers the palm of user and/or the spatial coordinated information of finger by the described body propagated sensation sensor for Medical Devices, and is used for the body sense controller of Medical Devices described in being sent to by this spatial coordinated information; Concrete implementation procedure is: first for each palm in described body propagated sensation sensor induction range distributes a unique palm mark, and be that the unique finger of each finger distribution one identifies; Then the spatial coordinated information recording described palm and point relative to described sensor; Finally the spatial coordinated information of described record is sent to the body sense controller be connected with this body propagated sensation sensor.It should be noted that, time in the induction range that described palm and/or finger leave described body propagated sensation sensor, the coordinate information of described record empties automatically.
Step 201, generates movable information by described body sense controller according to the spatial coordinated information from described body propagated sensation sensor, and movement instruction corresponding for this movable information is sent to described Medical Devices;
Concrete implementation procedure is: preset movable information and the corresponding relation prestored between gesture and movement instruction; Then receive the spatial coordinated information of autologous propagated sensation sensor, the described spatial coordinated information received is generated movable information, and by this movable information compared with the described gesture that prestores, judges the gesture that this movable information is corresponding and movement instruction; Finally the movement instruction of described judgement is sent to Medical Devices body to manipulate described Medical Devices body.
The process that the spatial coordinated information received generates movable information is specially:
According to the spatial coordinated information of the present frame received and former frame, generate movable information; The movable information of described generation comprises: the speed of palm translation, direction; Palm position; The direction that palm rotates and angle; Finger fingertip position; The direction of motion of finger fingertip; The movement velocity of finger fingertip.
By the movable information of described generation compared with the described gesture that prestores, judge the gesture that this movable information is corresponding and movement instruction.
Step 202, by described Medical Devices according to the corresponding relation between movement instruction and key command, determine from key command corresponding to the movement instruction of described body sense controller, and according to the control action that this key command carries out Medical Devices the described body sense controller of execution.
Concrete implementation procedure is:
First the corresponding relation between gesture instruction and key command is configured; Then the gesture instruction from described body sense controller is received, according to the corresponding relation between described preset gesture instruction and key command, the key command that the finger instruction received described in determining is corresponding; Last according to the described key command determined, described Medical Devices body is manipulated.
To the embody rule process of medical device body sense control method of the present invention be introduced below, as shown in figure 14:
Step S1: after body sense controls Medical Devices startup, can indicate to user working status, and start real time scan to detect gesture or action.Substantially below sensor between 25 millimeters to 600 millimeters one of the scope detected falls the space of rectangular pyramid.
Step S2: if user wants to control a certain Medical Devices, need this body sense control the Medical Devices region of presetting make specify gesture, action or gesture interoperation.
Step S3: after the hand of user enters appointed area, body sense controls Medical Devices can provide prompting.Body propagated sensation sensor is captured in the input of the gesture of appointed area, action or gesture interoperation, and timed sending is to body sense controller.
Step S4: body sense controller generates movable information according to spatial coordinated information corresponding to the hand of user, and compare with the various gestures that prestore in system.
Step S5: judge whether it is initiation gesture.If so, jump to step S6, the enable variable assignments of communication is 1.If not, step S7 is jumped to.
Step S6: the communication starting body sense controller and controlled Medical Devices.Just can be moved by gesture opertaing device after starting communication, adding initiation gesture effectively can prevent maloperation.
Step S7: judge whether the enable variable of communication is 1.If not, jump to step S11, gesture input is invalid, does not send any instruction to Medical Devices.When the enable variable assignments of communication is 0, no matter be that communication termination gesture or the gesture of other controlled motions all cannot perform.
Step S8: judge whether it is stop gesture.If so, jump to step S9, the enable variable assignments of communication is 0.If not, step 10 is jumped to.Communication close after, again initiation gesture must be detected, and with Medical Devices communication after just can carry out motion control.
Step S10: judge whether it is motion gesture.If so, jump to step S12, send the movement instruction that gesture is corresponding.If not, step 11 is jumped to.
Step S11: lose invalid gesture input, continue to detect gesture input next time.
It should be noted that, in order to prevent maloperation, before requiring that body sense controller controls Medical Devices transmission movement instruction to controlled body sense, all needing to make specific gesture, i.e. an initiation gesture; After completing instrument regulation, after reaching customer satisfaction system state, then do a specific gesture, namely stop gesture.Between initiation gesture and termination gesture, the enable variable of communication is 1, otherwise is 0.When only having the enable variable of communication to be 1, just can send movement instruction to controlled instrument.
Because body sense provided by the invention controls in Medical Devices, body propagated sensation sensor can gather the palm of user and/or the spatial coordinated information of finger, and body sense controller generates movable information according to spatial coordinated information, and judge the gesture that this movable information is corresponding, and the transmission movement instruction corresponding with this gesture realizes controlling the operation of Medical Devices body, whole process only needs the user of Medical Devices to complete separately, doctor oneself can adjust the parameter of equipment as required, thus improve the precision of equipment adjustment, the efficiency of operation can be improved like this, reduce the risk of the maloperation brought because of communication, it also avoid in surgical procedure simultaneously, because of the needs of Medical Devices adjustment, and cause the appearance of cross-infection.
Above content is in conjunction with concrete preferred implementation further description made for the present invention, can not assert that specific embodiment of the invention is confined to these explanations.For general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, some simple deduction or replace can also be made, all should be considered as belonging to protection scope of the present invention.
Claims (15)
1. body sense controls Medical Devices, it is characterized in that, comprising: Medical Devices body, for the body propagated sensation sensor of Medical Devices, the body sense controller for Medical Devices;
The described body propagated sensation sensor for Medical Devices, for the spatial coordinated information of the palm and/or finger that gather user, and is used for the body sense controller of Medical Devices described in being sent to by this spatial coordinated information;
The described body sense controller for Medical Devices, for generating movable information according to the spatial coordinated information from described body propagated sensation sensor, and is sent to described Medical Devices by movement instruction corresponding for this movable information;
Described Medical Devices body, for according to the corresponding relation between movement instruction and key command, determine from key command corresponding to the movement instruction of described body sense controller, and according to the control action that this key command carries out Medical Devices body the described body sense controller of execution.
2. body sense as claimed in claim 1 controls Medical Devices, and it is characterized in that, the described body propagated sensation sensor for Medical Devices, comprising:
Mark distribution module for distributing a unique palm mark for each palm in described body propagated sensation sensor induction range, and is that the unique finger of each finger distribution one identifies;
Coordinate record module, for the spatial coordinated information recording described palm and point relative to described sensor;
Coordinate sending module, the spatial coordinated information for described coordinate record module being recorded is sent to the body sense controller be connected with this body propagated sensation sensor.
3. body sense as claimed in claim 2 controls Medical Devices, and it is characterized in that, the coordinate information recorded in described coordinate record module empties automatically when described palm and/or finger leave in the induction range of described body propagated sensation sensor.
4. body sense as claimed in claim 1 controls Medical Devices, and it is characterized in that, the described body sense controller for Medical Devices, comprising:
Instruction preset module, for preset movable information and the corresponding relation that prestores between gesture and movement instruction;
Input/output module, for receiving the spatial coordinated information of autologous propagated sensation sensor;
Processing module, generates movable information for the spatial coordinated information described input/output module received, and by this movable information compared with the gesture that prestores in described instruction preset module, judges the gesture that this movable information is corresponding and movement instruction;
Communication module, the movement instruction for described processing module being judged is sent to Medical Devices body to manipulate described Medical Devices body.
5. body sense as claimed in claim 4 controls Medical Devices, and it is characterized in that, described processing module comprises:
Movable information generation unit, for the spatial coordinated information of the present frame that receives according to described input/output module and former frame, generates movable information;
Movement instruction identifying unit, for the movable information that generated by described movable information generation unit compared with the gesture that prestores in described instruction preset module, judges the gesture that this movable information is corresponding and movement instruction.
6. body sense as claimed in claim 5 controls Medical Devices, and it is characterized in that, the movable information that described movable information generation unit generates comprises:
The speed of palm translation, direction; Palm position; The direction that palm rotates and angle; Finger fingertip position; The direction of motion of finger fingertip; The movement velocity of finger fingertip.
7. body sense as claimed in claim 1 controls Medical Devices, and it is characterized in that, described Medical Devices body, comprising:
Instruction configuration module, for configuring the corresponding relation between gesture instruction and key command;
Command reception module, for receiving the gesture instruction from described body sense controller;
Command process module, for according to the corresponding relation between the preset gesture instruction of described instruction preset module and key command, determines the key command that finger instruction that described command reception module receives is corresponding;
Instruct execution module, for the key command determined according to described command process module, manipulates described Medical Devices body.
8. body sense as claimed in claim 7 controls Medical Devices, and it is characterized in that, described Medical Devices body comprises: operating lamp, operation table, medical hoist tower, Medical hanging bridge or patient monitor.
9. a body sense control method for Medical Devices, is characterized in that, the body sense of described method according to any one of claim 1 to 8 controls Medical Devices and realize, and comprising:
Gather the palm of user and/or the spatial coordinated information of finger by the described body propagated sensation sensor for Medical Devices, and described in being sent to by this spatial coordinated information, be used for the body sense controller of Medical Devices;
Generate movable information by described body sense controller according to the spatial coordinated information from described body propagated sensation sensor, and movement instruction corresponding for this movable information is sent to described Medical Devices;
By described Medical Devices body according to the corresponding relation between movement instruction and key command, determine from key command corresponding to the movement instruction of described body sense controller, and according to the control action that this key command carries out Medical Devices body the described body sense controller of execution.
10. the body sense control method of Medical Devices as claimed in claim 9, it is characterized in that, described by the described collection palm of user of the body propagated sensation sensor for Medical Devices and/or the spatial coordinated information of finger, and described in being sent to by this spatial coordinated information, be used for the body sense controller of Medical Devices, comprising:
For each palm in described body propagated sensation sensor induction range distributes a unique palm mark, and be that the unique finger of each finger distribution one identifies;
The spatial coordinated information recording described palm and point relative to described sensor;
The spatial coordinated information of described record is sent to the body sense controller be connected with this body propagated sensation sensor.
The body sense control method of 11. Medical Devices as claimed in claim 10, it is characterized in that, described method also comprises:
Time in the induction range that described palm and/or finger leave described body propagated sensation sensor, the coordinate information of described record empties automatically.
The body sense control method of 12. Medical Devices as claimed in claim 9, it is characterized in that, described by described body sense controller according to the spatial coordinated information generation movable information from described body propagated sensation sensor, and movement instruction corresponding for this movable information is sent to described Medical Devices, comprises:
Preset movable information and the corresponding relation prestored between gesture and movement instruction;
Receive the spatial coordinated information of autologous propagated sensation sensor;
The described spatial coordinated information received is generated movable information, and by this movable information compared with the described gesture that prestores, judges the gesture that this movable information is corresponding and movement instruction;
The movement instruction of described judgement is sent to Medical Devices body to manipulate described Medical Devices body.
The body sense control method of 13. Medical Devices as claimed in claim 12, is characterized in that, the described spatial coordinated information received is generated movable information, comprising:
According to the spatial coordinated information of the present frame received and former frame, generate movable information;
By the movable information of described generation compared with the described gesture that prestores, judge the gesture that this movable information is corresponding and movement instruction.
The body sense control method of 14. Medical Devices as claimed in claim 13, it is characterized in that, the movable information of described generation comprises:
The speed of palm translation, direction; Palm position; The direction that palm rotates and angle; Finger fingertip position; The direction of motion of finger fingertip; The movement velocity of finger fingertip.
The body sense control method of 15. Medical Devices according to any one of claim 9 to 14, it is characterized in that, described by described Medical Devices body according to the corresponding relation between movement instruction and key command, determine from key command corresponding to the movement instruction of described body sense controller, and according to the control action that this key command carries out Medical Devices body the described body sense controller of execution, comprising:
Corresponding relation between configuration gesture instruction and key command;
Receive the gesture instruction from described body sense controller;
According to the corresponding relation between described preset gesture instruction and key command, the key command that the finger instruction received described in determining is corresponding;
According to the described key command determined, described Medical Devices body is manipulated.
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| CN201310263037.9A CN104252225A (en) | 2013-06-27 | 2013-06-27 | Motion control medical equipment and medical equipment motion control method |
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