CN104252243A - Gesture-controlled medical equipment and gesture control method thereof - Google Patents
Gesture-controlled medical equipment and gesture control method thereof Download PDFInfo
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Abstract
The invention provides gesture-controlled medical equipment and a gesture control method of the medical equipment. The equipment comprises a medical equipment body and a handheld controller, wherein the handheld controller is connected with the medical equipment body and comprises a gesture sensor, a control unit, a key or touch screen and a communication unit; the gesture controller is used for detecting a characteristic variable for representing acting force applied by a user to the handheld controller in real time; the control unit is used for accessing and reading the characteristic variable detected by the gesture sensor in real time and analyzing the characteristic variable into a corresponding gesture, and is also used for detecting a press value received by the key or touch screen and combining the press value with the analyzed gesture to obtain a control instruction; the communication unit is used for transmitting the control instruction to the medical equipment body connected with the handheld controller to control the medical equipment body. Through implementation, the medical equipment can be controlled to execute different actions in a combined manner through detection of the gesture of a manipulator and functional keys.
Description
Technical field
The present invention relates to field of medical technology, particularly relate to a kind of gesture manipulation Medical Devices and gesture control method thereof.
Background technology
Medical Devices, when being equipped with user interface, arrange hand-held control device usually, and user makes equipment perform corresponding action by the hand-held control device of operation, the manipulation of finishing equipment.
Current hand-held control device realizes detecting and identifies that the mode of different operating has:
1, recognition by pressing keys: as shown in Figure 1, hand-held control device arranges different classes of button, user is when operating different key, equipment is transferred to by wire harness with a certain fixing communication mode (RS232, RS485, LIN etc.) after control device systems axiol-ogy to button, equipment distinguishes different key according to different pieces of information frame, finally realizes controlling equipment and performs different action.
2, touch recognition: as shown in Figure 2, hand-held control device arranges touch-screen, detects the instruction of user's different operating by touch-screen.On screen, different operating district is drawn by software, once detect that there is pressing operation in a certain region, the button detected can be transferred to equipment by a certain fixing communication mode (RS232, RS485, LIN etc.) by hand-held control device, equipment distinguishes different key according to different pieces of information frame, finally realizes controlling equipment and performs different action.
Above technology just achieves the basic function being controlled Medical Devices by hand-held control device, but it still exists following shortcoming:
Because button in practical application is many, keypad (screen) as shown in Figure 1 or 2 can arrange the button of a lot of difference in functionality, when user will operate a certain fixed function button, can operate after must making fine distinctions between button.
When the demand of physical button is many, hand-held control device size can be very large, is inconvenient to use.
Further, one key operation does not have indicative, especially when there being directional operation demand, can only by silk-screen mark difference in functionality different on button, and the then function of user operation needs, finishing equipment action.
Just can the action of actuating equipment by some buttons of detecting the region of touch-screen with upper type, misoperation cannot be avoided in touch-screen button single failure situation, by improving the reliability of button, the reliability of system can only be improved in clinical practice.
So two kinds of hand-held control devices of the prior art occur that single failure probability is high, great medical-risk can be caused.
Summary of the invention
The present invention, for solving the problems of the technologies described above, provides a kind of gesture manipulation Medical Devices and gesture control method thereof, can control Medical Devices perform different actions by detection manipulator's gesture and function button combination.
The hand-held manipulation Medical Devices of one provided by the invention, comprising: Medical Devices body and the hand-held control device be connected with Medical Devices body;
Described hand-held control device comprises: gesture sensor, control module, button or touch-screen, communication unit;
Described gesture sensor, characterizes for detecting in real time the characteristic variable that user acts on the acting force on this hand-held control device;
Described control module, reads for real time access the characteristic variable that described gesture sensor detects, and this characteristic variable is resolved to corresponding gesture;
This press values and the gesture of resolving gained also for detecting the press values that described button or touch-screen receive, and are combined into manipulation instruction by described control module;
Described communication unit, for the Medical Devices body be extremely connected with hand-held control device by described manipulation command, to manipulate described Medical Devices body.
Wherein, the gesture control method of described Medical Devices realizes based on aforesaid gesture manipulation Medical Devices, and described gesture manipulation Medical Devices comprise: Medical Devices body and the hand-held control device be connected with Medical Devices body; Described hand-held control device comprises: gesture sensor, control module, button or touch-screen, communication unit; Described gesture control method, comprising:
Detected in real time by described gesture sensor and characterize the characteristic variable that user acts on the acting force on this hand-held control device;
Read by described control module real time access the characteristic variable that described gesture sensor detects, this characteristic variable is resolved to corresponding gesture; And detect the press values that described button or touch-screen receive, and this press values and the gesture of resolving gained are combined into manipulation instruction;
By the Medical Devices body that described manipulation command is extremely connected with this hand-held control device by described communication unit, to manipulate described Medical Devices body.
Implement the present invention, there is following beneficial effect:
Gesture manipulation Medical Devices of the present invention are provided with gesture sensor to detect the gesture of operator, function button or touch-screen is coordinated to obtain instruction again, differentiate the intention of operating personnel and generate corresponding gesture instruction, controlling Medical Devices by this gesture instruction and perform corresponding actions.Therefore, implement the present invention, can effectively identifying operation personnel operation intention, improve manipulate reliability, the staff that need not rely on except operating personnel can manipulate Medical Devices, effectively reduces operational risk.In addition, when Medical Devices body belongs to the complex apparatus relating to multiple control mode, the necessary corresponding operational and controlled key button number arranged can be reduced by the cooperation of hand-held sensor and button/touch-screen, both the size controlling hand-held control device had been conducive to, also can reduce the error probability of the single failure that operational and controlled key button too much causes, be applicable to the control of complicated Medical Devices.
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.
Fig. 1 is the schematic diagram of the hand-held control device of recognition by pressing keys type of the prior art;
Fig. 2 is the schematic diagram of the hand-held control device of type of touch screens in prior art;
Fig. 3 is the schematic diagram of gesture provided by the invention manipulation Medical Devices and Medical Devices;
Fig. 4 is a structural representation of gesture provided by the invention manipulation Medical Devices;
Fig. 5 is the structural representation of the control module of the gesture manipulation Medical Devices shown in Fig. 4;
Fig. 6 is the another structural representation of gesture provided by the invention manipulation Medical Devices;
Fig. 7 is definition of gesture schematic diagram in gesture provided by the invention manipulation Medical Devices;
Fig. 8 is the judgement schematic diagram rising gesture in gesture provided by the invention manipulation Medical Devices;
Fig. 9 is the judgement schematic diagram of front gesture in gesture provided by the invention manipulation Medical Devices;
Figure 10 is the schematic flow sheet of gesture provided by the invention manipulation Medical Devices embodiment of the method one;
Figure 11 is the schematic flow sheet of gesture provided by the invention manipulation Medical Devices embodiment of the method two;
Figure 12 is the application schematic diagram of gesture provided by the invention manipulation Medical Devices;
Figure 13 to Figure 24 is the another application schematic diagram of gesture provided by the invention manipulation Medical Devices.
Embodiment
The invention provides a kind of gesture manipulation Medical Devices and gesture control method thereof, Medical Devices can be controlled by detection manipulator's gesture and function button combination and perform different actions.
As shown in Figure 3, a kind of gesture manipulation Medical Devices provided by the invention, it comprises hand-held control device 1 and Medical Devices body 2, communicates between hand-held control device 1 and Medical Devices body 2 mainly through Signal transmissions.
Below again see Fig. 4, it is the concrete composition schematic diagram of the hand-held control device of gesture manipulation Medical Devices provided by the invention.
As shown in Figure 4, hand-held control device 1 comprises: gesture sensor, control module 10, button or touch-screen 14 and communication unit 15;
Described gesture sensor, characterizes for detecting in real time the characteristic variable that user acts on the acting force on described hand-held control device 1;
Described control module 10, for the characteristic variable that real time access reading gesture sensor detects, and resolves to corresponding gesture by this characteristic variable;
This press values and the gesture of resolving gained also for detecting the press values that button or touch-screen 14 receive, and are combined into manipulation instruction by described control module 10;
Described communication unit 15, for the Medical Devices body 2 be extremely connected with hand-held control device 1 by described manipulation command, to manipulate described Medical Devices body 2.
Wherein, gesture sensor comprises one or more in acceleration transducer 11, angular-rate sensor 12 and obliquity sensor 13;
Described acceleration transducer 11, acting on the acceleration of the acting force on this hand-held control device, obtaining acceleration variable for detecting user in real time;
Described angular-rate sensor 12, acting on the angular velocity of the acting force on this hand-held control device, obtaining angular velocity variable for detecting user in real time;
Described obliquity sensor 13, acting on the inclination angle of the acting force on this hand-held control device, obtaining inclination angle variable for detecting user in real time;
In specific implementation, control module 10 is responsible for each submodule collaborative work coordinating whole hand-held control device, and reads the value of the variable that acceleration transducer 11, angular-rate sensor 12 and obliquity sensor 13 detect in real time; And can its GPIO(General-purpose Input/Output port be passed through, universal input and output port) value of Port detecting button or touch-screen 14.Communication unit 15 can flexible configuration, can by wired or configuration bluetooth, wireless radiofrequency module, and wirelessly signal transmission is to Medical Devices body 2.Certainly, this hand-held control device can also comprise the power module providing power supply.
Wherein, the structure of described control module 10 is concrete as shown in Figure 5, it comprises the one or more unit in acceleration variable reading unit 100, angular velocity variable reading unit 101, inclination angle variable reading unit 102, and gesture resolution unit 103, and its function is as follows:
Acceleration variable reading unit 100, reads described acceleration variable for real time access;
Angular velocity variable reading unit 101, reads described angular velocity variable for real time access;
Inclination angle variable reading unit 102, reads described inclination angle variable for real time access;
Gesture resolution unit 103, for becoming corresponding gesture by the described one or more variable resolution read.
Below detailed description gesture resolution unit 103 is carried out the process of gesture parsing, before this, first the definition of the basis-XYZ axle judging gesture is explained as follows:
X-axis and Y-axis are planimetric coordinates axle, and both are vertically intersected on true origin O mutually; Z axis is by true origin O, and vertical X axis and Y-axis;
With the right hand heart towards human body, upwards, the back of the hand dorsad human body is that example is carried out to finger orientation, and this true origin O is the right hand centre of the palm in the present embodiment, and Y-axis is the direction of thumb indication, and X-axis is the direction of forefinger indication; Z axis is the direction vertical with the centre of the palm.
Carry out gesture parsing based on the gesture resolution unit 103 of the present embodiment XYZ axle in defining, it comprises:
Left and right gesture resolution unit 1030, inclination angle variable X g for reading at described inclination angle variable reading unit 102 is greater than the threshold value V1 ° of setting, and/or the angular velocity variable X ag in X-axis that reads of described angular velocity variable reading unit 101 is greater than threshold value V2 °/S of setting, and the angular velocity variable on Z axis is not when exceeding threshold value, resolving this gesture is left and right gesture;
Lifting gesture resolution unit 1031, inclination angle variable X g for reading at described inclination angle variable reading unit 102 is greater than the threshold value V1 ° of setting, and/or the angular velocity variable Y ag in Y-axis that reads of described angular velocity variable reading unit 101 is greater than threshold value V2 °/S of setting, and the angular velocity variable on Z axis is not when exceeding threshold value, resolve this gesture for lifting gesture;
Front and back gesture resolution unit 1032, acceleration variables A 1 in the X-direction read at described acceleration variable reading unit 100 is greater than the threshold value V3 of setting, and/or the angular velocity variable on described angular velocity variable reading unit 101 X-axis, Y-axis and the Z axis that read is not when exceeding threshold value, resolving this gesture is front and back gesture.
Wherein, described left and right gesture resolution unit 1030 is just in the value of the inclination angle variable X g that described inclination angle variable reading unit 102 reads, and/or the value of the angular velocity variable X ag in X-axis that reads of described angular velocity variable reading unit 101 is for just, resolving this gesture is being left hand gesture; The value of the inclination angle variable X g read at described inclination angle variable reading unit 102 is negative, and/or the value of the angular velocity variable X ag in X-axis that described angular velocity variable reading unit 101 reads is negative, and resolving this gesture is right hand gesture.
Wherein, described lifting gesture resolution unit 1031 is just in the value of the inclination angle variable X g that described inclination angle variable reading unit 102 reads, and/or the value of the angular velocity variable Y ag in Y-axis that reads of described angular velocity variable reading unit 101 is for just, resolving this gesture for rise gesture; The value of the inclination angle variable X g read at described inclination angle variable reading unit 102 is negative, and/or the value of the angular velocity variable Y ag in Y-axis that described angular velocity variable reading unit 101 reads is negative, resolves this gesture for falling gesture.
Wherein, the value of the acceleration variables A 1 in the X-direction that described front and back gesture resolution unit 1032 reads at described acceleration variable reading unit 100 is for just, and resolving this gesture is front gesture; The value of the acceleration variables A 1 in the X-direction that described acceleration variable reading unit 100 reads is negative, and resolving this gesture is rear gesture.
As shown in Figure 6, the hand-held control device 1 of gesture manipulation Medical Devices provided by the invention, except comprising functional module as shown in Figure 4, also comprises:
Display unit 16, for showing communications status between described hand-held control device 1 and described Medical Devices body 2 and power supply status in real time.
Wherein, described manipulation command is manipulated to this gesture the Medical Devices 2 that Medical Devices 1 are connected by wired or wireless mode by described communication unit 15.
Concrete, communication unit 15 configures the communication interface that can match flexibly, can transmit in a wired fashion, also can configure bluetooth, zigbee, etc. wireless radiofrequency module, be wirelessly connected with Medical Devices body.
In hand-held control device as the aforementioned, control module 10 is according to acceleration transducer 11, and one or more in the variate-value that angular-rate sensor 12 and obliquity sensor 13 detect carries out comprehensive descision, obtains concrete gesture.Wherein, the definition of gesture is concrete as Fig. 7:
A) rise gesture: operator by hand-held control device with the centre of the palm for the axially hand-held control device of whipping, and be greater than certain angle and stop.
B) fall gesture: hand-held control device is the axial lower hand-held control device of whipping with the centre of the palm by operator, and be greater than certain angle and stop.
C) left hand gesture: hand-held control device is the axial hand-held control device of left whipping with the centre of the palm by operator, and be greater than certain angle and stop.
D) right hand gesture: hand-held control device is the axial hand-held control device of right whipping with the centre of the palm by operator, and be greater than certain angle and stop.
E) front gesture: hand-held control device is that axle horizontal direction releases hand-held control device with the centre of the palm by operator.
F) gesture afterwards: hand-held control device is that axle horizontal direction draws in hand-held control device with the centre of the palm by operator.
In gesture manipulation Medical Devices provided by the invention, operator once operate hand-held control device with X-axis or Y-axis for axle center rotates must along with the change of angular velocity Xag or Yag in this direction, the hand-held control device of simultaneous has the change of angles of inclination X a, therefore the hand-held control device of gesture manipulation Medical Devices provided by the invention, gesture can be judged according to angular velocity Xag/Yag or angles of inclination X a merely, also comprehensively both can judge gesture.Such as:
The left-leaning angle Xa of hand-held control device is greater than setting threshold value and is just judged to be left hand gesture, otherwise Right deviation roughly the same, and this is the embodiment that single detection inclination angle variable carries out gesture judgement.
When hand-held control device is left-leaning, angular velocity Xag is greater than setting threshold determination is left hand gesture, and namely staff has the action of an anticlockwise, is now judged to be left hand gesture, and this is the embodiment that single detection angle speed variables carries out gesture judgement.
Be greater than separately setting threshold value and other does not axially have angular velocity over range to change when angular velocity Xag/Yag and angles of inclination X a meets simultaneously, now namely can judge to confirm that this gesture (left and right, ascending, descending) is as effective gesture.Such as, as shown in Figure 8, when angles of inclination X a is greater than threshold value V1 °, the angular velocity Yag of Y direction is greater than threshold value V2 °/S, is judged to rise gesture.This is the embodiment that comprehensive detection angular velocity and inclination angle variable carry out gesture judgement.
The judgement of front and back gesture is the accekeration judgement by detecting Y-axis, once operator throws away (or withdrawal) hand-held control device along X-direction, must change with the accekeration A1 of X-direction, when A1 is greater than a certain setting threshold value while, the magnitude of angular velocity of three axles does not have undulating quantity to be not more than setting threshold value, then (afterwards) gesture before can being judged to be.Such as, specifically as shown in Figure 9, when the accekeration A1 of X-direction is greater than threshold value V3, front gesture is judged to be.
The hand-held control device of gesture manipulation Medical Devices provided by the invention, after it recognizes a certain gesture by control module, only do not manipulate Medical Devices with this single condition, but the press values of the button detected in conjunction with control module or touch-screen, then both are combined, form the manipulation instruction with certain sense, and transmit it to Medical Devices by communication unit, finally reach the object of controlling equipment.
The method of gesture provided by the invention manipulation Medical Devices will be introduced below.
The gesture control method of a kind of Medical Devices of the present invention realizes based on aforesaid gesture manipulation Medical Devices, and as shown in Figure 10, it comprises:
Step 100, is detected in real time by gesture sensor and characterizes the characteristic variable that user acts on the acting force on this hand-held control device;
Step 101, reads by control module real time access the characteristic variable that described gesture sensor detects, this characteristic variable is resolved to corresponding gesture;
Step 102, detects the press values that described button or touch-screen receive, and this press values and the gesture of resolving gained are combined into manipulation instruction;
Step 103, the Medical Devices body be extremely connected with described hand-held control device by described manipulation command by communication unit, to manipulate described Medical Devices body.
Concrete, in a wired or wireless manner described manipulation command extremely can be manipulated the Medical Devices that Medical Devices are connected with this gesture, to manipulate described Medical Devices by described communication unit.
Described step 100 specifically comprises:
Detect by described acceleration transducer the acceleration that user acts on the acting force on described hand-held control device in real time, obtain acceleration variable; And/or
Detect by described angular-rate sensor the angular velocity that user acts on the acting force on described hand-held control device in real time, obtain angular velocity variable; And/or
Detect by obliquity sensor the inclination angle that user acts on the acting force on this hand-held control device in real time, obtain inclination angle variable;
Wherein, the gesture control method of described Medical Devices also comprises:
Step 104, the communications status in real time between the described hand-held control device of display and described Medical Devices and power supply status.
Preferably, described method also comprises:
Step 105, the communications status in real time between the described hand-held control device of display and described Medical Devices body and power supply status.
Wherein step 101 reads by described control module real time access the characteristic variable that described gesture sensor detects, this characteristic variable is resolved to corresponding gesture, specifically comprises:
Be greater than the threshold value V1 ° of setting at the inclination angle variable X g that described control module reads, and/or the angular velocity variable X ag in X-axis is greater than threshold value V2 °/S of setting, and when the angular velocity variable on Z axis does not exceed threshold value, resolving this gesture is left and right gesture; Concrete, in the value of the inclination angle variable X g that described control module reads for just, and/or the value of angular velocity variable X ag in X-axis is just, resolving this gesture is left hand gesture;
Be negative in the value of the inclination angle variable X g that described control module reads, and/or the value of angular velocity variable X ag in X-axis is negative, resolving this gesture is right hand gesture.
Be greater than the threshold value V1 ° of setting at the inclination angle variable X g that described control module reads, and/or the angular velocity variable Y ag in Y-axis is greater than threshold value V2 °/S of setting, and when the angular velocity variable on Z axis does not exceed threshold value, resolves this gesture for lifting gesture; Concrete, in the value of the inclination angle variable X g that described control module reads for just, and/or the value of angular velocity variable Y ag in Y-axis is just, resolves this gesture for rise gesture;
Be negative in the value of the inclination angle variable X g that described control module reads, and/or the value of angular velocity variable Y ag in Y-axis is negative, resolves this gesture for falling gesture.
Acceleration variables A 1 in the X-direction that described control module reads is greater than the threshold value V3 of setting, and when the angular velocity variable on the X-axis read, Y-axis and Z axis does not exceed threshold value, resolving this gesture is front and back gesture.
Concrete, the value of the acceleration variables A 1 read at described control module is for just, and resolving this gesture is front gesture;
The value of the acceleration variables A 1 read at described control module is negative, and resolving this gesture is rear gesture.
See Figure 11, it is the schematic flow sheet of the gesture control method embodiment two of Medical Devices provided by the invention;
As shown in figure 11, the method for the present embodiment comprises:
Step 200, when operator's manipulation is by hand-held control device manipulation gesture manipulation Medical Devices, the control module of hand-held control device is judged to be Px gesture;
Step 201, when operator push button on hand-held control device or touch-control touch-screen time, control module detects press values F1;
Step 202, hand-held control device, in conjunction with gesture Px and press values F1, is judged to be the X operation operating Medical Devices;
Step 203, the manipulation command that this X operation is represented by its communication unit by hand-held control device is to Medical Devices.
The embody rule of gesture provided by the invention manipulation Medical Devices will be set forth below.
See Figure 12, it is the application schematic diagram of gesture manipulation Medical Devices provided by the invention; Here only for Medical Devices body for operation table, other Medical Devices principles are identical, repeat no more.
Operation table generally comprises with lower component, as backboard 20, seat 21, left leg plate 22, right leg plate 23.These parts can carry out corresponding action by the control of hand-held control device.
Figure 13 to Figure 24 is the schematic diagram that in gesture provided by the invention manipulation Medical Devices, hand-held control device controls motorized operating bed.
Wherein, the action correspondence of gesture manipulation and operation table execution is as shown in table 1 below:
Implement the present invention, there is following beneficial effect:
Gesture manipulation Medical Devices of the present invention are provided with hand-held control device, and its gesture sensor can by the gesture of sensing detection technology for detection operator, then coordinate function button to obtain steering order, controls Medical Devices and performs corresponding actions.Therefore, implement the present invention, can effectively identifying operation personnel operation intention, improve manipulate reliability, effectively reduce operational risk.
One of ordinary skill in the art will appreciate that all or part of flow process realized in above-described embodiment method, that the hardware that can carry out instruction relevant by computer program has come, described program can be stored in a computer read/write memory medium, this program, when performing, can comprise the flow process of the embodiment as above-mentioned each side method.Wherein, described storage medium can be magnetic disc, CD, read-only store-memory body (Read-Only Memory, ROM) or random store-memory body (Random Access Memory, RAM) etc.
In addition, the mode that button of the present invention or touch-screen are also alternatively detected by microswitch, infrared induction or proximity transducer realizes, and is not limited to mode disclosed in above-described embodiment.
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 (17)
1. gesture manipulation Medical Devices, is characterized in that, comprising: Medical Devices body and the hand-held control device be connected with Medical Devices body;
Described hand-held control device comprises: gesture sensor, control module, button or touch-screen and communication unit;
Described gesture sensor, characterizes for detecting in real time the characteristic variable that user acts on the acting force on this hand-held control device;
Described control module, reads for real time access the characteristic variable that described gesture sensor detects, and this characteristic variable is resolved to corresponding gesture;
This press values and the gesture of resolving gained also for detecting the press values that described button or touch-screen receive, and are combined into manipulation instruction by described control module;
Described communication unit, for the Medical Devices body be extremely connected with hand-held control device by described manipulation command, to manipulate described Medical Devices body.
2. gesture manipulation Medical Devices as claimed in claim 1, is characterized in that, described gesture sensor comprise in acceleration transducer, angular-rate sensor and obliquity sensor one or more;
Described acceleration transducer, acting on the acceleration of the acting force on described hand-held control device, obtaining acceleration variable for detecting user in real time;
Described angular-rate sensor, acting on the angular velocity of the acting force on described hand-held control device, obtaining angular velocity variable for detecting user in real time;
Described obliquity sensor, acting on the inclination angle of the acting force on described hand-held control device, obtaining inclination angle variable for detecting user in real time.
3. gesture manipulation Medical Devices as claimed in claim 2, is characterized in that, it is one or more that described control module comprises in acceleration variable reading unit, angular velocity variable reading unit, inclination angle variable reading unit, and gesture resolution unit;
Described acceleration variable reading unit, reads described acceleration variable for real time access;
Described angular velocity variable reading unit, reads described angular velocity variable for real time access;
Described inclination angle variable reading unit, reads described inclination angle variable for real time access;
Described gesture resolution unit, for becoming corresponding gesture by the described one or more variable resolution read.
4. gesture manipulation Medical Devices as claimed in claim 3, it is characterized in that, described gesture resolution unit comprises:
Left and right gesture resolution unit, inclination angle variable X g for reading at described inclination angle variable reading unit is greater than the threshold value V1 ° of setting, and/or the angular velocity variable X ag in X-axis that reads of described angular velocity variable reading unit is greater than threshold value V2 °/S of setting, and the angular velocity variable on Z axis is not when exceeding threshold value, resolving this gesture is left and right gesture;
Lifting gesture resolution unit, inclination angle variable X g for reading at described inclination angle variable reading unit is greater than the threshold value V1 ° of setting, and/or the angular velocity variable Y ag in Y-axis that reads of described angular velocity variable reading unit is greater than threshold value V2 °/S of setting, and the angular velocity variable on Z axis is not when exceeding threshold value, resolve this gesture for lifting gesture;
Front and back gesture resolution unit, acceleration variables A 1 in the X-direction read at described acceleration variable reading unit is greater than the threshold value V3 of setting, and the angular velocity variable on described angular velocity variable the reading unit X-axis, Y-axis and the Z axis that read is not when exceeding threshold value, resolving this gesture is front and back gesture.
5. gesture manipulation Medical Devices as claimed in claim 4, it is characterized in that, described left and right gesture resolution unit is just in the value of the inclination angle variable X g that described inclination angle variable reading unit reads, and/or the value of the angular velocity variable X ag in X-axis that reads of described angular velocity variable reading unit is for just, resolving this gesture is being left hand gesture; The value of the inclination angle variable X g read at described inclination angle variable reading unit is negative, and/or the value of the angular velocity variable X ag in X-axis that described angular velocity variable reading unit reads is negative, and resolving this gesture is right hand gesture.
6. gesture manipulation Medical Devices as claimed in claim 4, it is characterized in that, described lifting gesture resolution unit is just in the value of the inclination angle variable X g that described inclination angle variable reading unit reads, and/or the value of the angular velocity variable Y ag in Y-axis that reads of described angular velocity variable reading unit is for just, resolving this gesture for rise gesture; The value of the inclination angle variable X g read at described inclination angle variable reading unit is negative, and/or the value of the angular velocity variable Y ag in Y-axis that described angular velocity variable reading unit reads is negative, resolves this gesture for falling gesture.
7. gesture manipulation Medical Devices as claimed in claim 4, is characterized in that, the value of the acceleration variables A 1 in the X-direction that described front and back gesture resolution unit reads at described acceleration variable reading unit is for just, and resolving this gesture is front gesture; The value of the acceleration variables A 1 in the X-direction that described acceleration variable reading unit reads is negative, and resolving this gesture is rear gesture.
8. gesture manipulation Medical Devices as claimed in claim 1, is characterized in that, described gesture manipulation Medical Devices also comprise:
Display unit, for showing communications status between described hand-held control device and described Medical Devices body and power supply status in real time.
9. gesture manipulation Medical Devices as claimed in claim 1, is characterized in that, the Medical Devices body that described manipulation command is extremely connected with described hand-held control device by wired or wireless mode by described communication unit.
10. a gesture control method for Medical Devices, is characterized in that, described Medical Devices comprise: Medical Devices body and the hand-held control device be connected with Medical Devices body; Described hand-held control device comprises: gesture sensor, control module, button or touch-screen and communication unit;
Described gesture control method, comprising:
Detected in real time by described gesture sensor and characterize the characteristic variable that user acts on the acting force on this hand-held control device;
Read by described control module real time access the characteristic variable that described gesture sensor detects, this characteristic variable is resolved to corresponding gesture; And detect the press values that described button or touch-screen receive, and this press values and the gesture of resolving gained are combined into manipulation instruction;
By the Medical Devices body that described manipulation command is extremely connected with described hand-held control device by described communication unit, to manipulate described Medical Devices body.
The gesture control method of 11. Medical Devices as claimed in claim 10, it is characterized in that, described gesture sensor comprise in acceleration transducer, angular-rate sensor and obliquity sensor one or more, then detected in real time by described gesture sensor and characterize the step that user acts on the characteristic variable of the acting force on described hand-held control device, comprising:
Detect by described acceleration transducer the acceleration that user acts on the acting force on described hand-held control device in real time, obtain acceleration variable; And/or
Detect by described angular-rate sensor the angular velocity that user acts on the acting force on described hand-held control device in real time, obtain angular velocity variable; And/or
Detect by obliquity sensor the inclination angle that user acts on the acting force on described hand-held control device in real time, obtain inclination angle variable.
The gesture control method of 12. Medical Devices as claimed in claim 11, is characterized in that, reads the characteristic variable that described gesture sensor detects, this characteristic variable is resolved to corresponding gesture, comprising by described control module real time access:
Be greater than the threshold value V1 ° of setting at the inclination angle variable X g that described control module reads, and/or the angular velocity variable X ag in X-axis is greater than threshold value V2 °/S of setting, and when the angular velocity variable on Z axis does not exceed threshold value, resolving this gesture is left and right gesture;
Be greater than the threshold value V1 ° of setting at the inclination angle variable X g that described control module reads, and/or the angular velocity variable Y ag in Y-axis is greater than threshold value V2 °/S of setting, and when the angular velocity variable on Z axis does not exceed threshold value, resolves this gesture for lifting gesture;
Acceleration variables A 1 in the X-direction that described control module reads is greater than the threshold value V3 of setting, and when the angular velocity variable on the X-axis read, Y-axis and Z axis does not exceed threshold value, resolving this gesture is front and back gesture.
The gesture control method of 13. Medical Devices as claimed in claim 12, it is characterized in that, the threshold value V1 ° of setting is greater than at the inclination angle variable X g that described control module reads, and/or the angular velocity variable X ag in X-axis is greater than threshold value V2 °/S of setting, and the angular velocity variable on Z axis is not when exceeding threshold value, resolving this gesture is left and right gesture, comprising:
In the value of the inclination angle variable X g that described control module reads for just, and/or the value of angular velocity variable X ag in X-axis is just, resolving this gesture is left hand gesture;
Be negative in the value of the inclination angle variable X g that described control module reads, and/or the value of angular velocity variable X ag in X-axis is negative, resolving this gesture is right hand gesture.
The gesture control method of 14. Medical Devices as claimed in claim 12, it is characterized in that, the threshold value V1 ° of setting is greater than at the inclination angle variable X g that described control module reads, and/or the angular velocity variable Y ag in Y-axis is greater than threshold value V2 °/S of setting, and the angular velocity variable on Z axis is not when exceeding threshold value, resolve this gesture for lifting gesture, comprising:
In the value of the inclination angle variable X g that described control module reads for just, and/or the value of angular velocity variable Y ag in Y-axis is just, resolves this gesture for rise gesture;
Be negative in the value of the inclination angle variable X g that described control module reads, and/or the value of angular velocity variable Y ag in Y-axis is negative, resolves this gesture for falling gesture.
The gesture control method of 15. Medical Devices as claimed in claim 12, it is characterized in that, acceleration variables A 1 in the X-direction that described control module reads is greater than setting threshold value V3, and the angular velocity variable on the X-axis read, Y-axis, Z axis is not when exceeding threshold value, resolving this gesture is front and back gesture, comprising:
The value of the acceleration variables A 1 in the X-direction that described control module reads is that just resolving this gesture is front gesture;
The value of the acceleration variables A 1 in the X-direction that described control module reads is negative, and resolving this gesture is rear gesture.
The gesture control method of 16. Medical Devices as claimed in claim 11, it is characterized in that, described method also comprises:
Communications status between the described hand-held control device of real-time display and described Medical Devices body and power supply status.
The gesture control method of 17. Medical Devices as claimed in claim 11, it is characterized in that, by the Medical Devices body that described manipulation command is extremely connected with described hand-held control device by described communication unit, to manipulate described Medical Devices body, comprising:
By described communication unit in a wired or wireless manner by the Medical Devices body that described manipulation command is extremely connected with hand-held control device, to manipulate described Medical Devices body.
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