CN107411822A - Tele-medicine double tool control system and application method - Google Patents
Tele-medicine double tool control system and application method Download PDFInfo
- Publication number
- CN107411822A CN107411822A CN201710421709.2A CN201710421709A CN107411822A CN 107411822 A CN107411822 A CN 107411822A CN 201710421709 A CN201710421709 A CN 201710421709A CN 107411822 A CN107411822 A CN 107411822A
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- Prior art keywords
- manipulation
- outer shroud
- axis
- finger ring
- instruction
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/35—Surgical robots for telesurgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
Abstract
The invention discloses a kind of tele-medicine double tool control system and application method, control system includes：The image acquisition device and two manipulation objects of remote port are arranged on, and is located at the image display and control device of local side, control device includes device corresponding with manipulator's limbs, is respectively：First finger ring corresponding to two hands are each and the second finger ring, each corresponding first pressing piece in two palm roots and the second pressing piece, and each corresponding first trampling part of two pin and the second trampling part；Two manipulation objects are respectively the first manipulation object and the second manipulation object, and the corresponding connection first of the first finger ring, the first pressing piece and the first trampling part manipulates object, the corresponding manipulation of connection second object of the second finger ring, the second pressing piece and the second trampling part；First finger ring and the second finger ring include inner ring and are enclosed on two outer shrouds of inner ring periphery, and outer shroud can rotate relative to inner ring along own axes, and outer shroud can be with respect to inner ring along itself axial dipole field.
Description
Technical field
The present invention relates to a kind of Tele medicine, more particularly to a kind of tele-medicine double tool control system and make
Use method.
Background technology
Tele-medicine, the technology on remote operation is particularly applied not only to need the information transfer by network, simultaneously
Also will be by means of the hardware device of manipulation.The particularly operating table and patient of local side operating doctor and remote port, is required to
It is connected the hardware device on both sides by networkings such as internets.The hardware device of remote control system of the prior art is more stupid
Weight, certain trouble is caused to carrying with for operating doctor.Therefore need a kind of by carry with convenient notes
Centered on this computer or smart mobile phone, the processor with data processing is controlled, then lighter manipulation fills in configuration
Put, the processor and actuation means that guarantee is linked together by data wire are lighter and carry with.
The content of the invention
Instant invention overcomes the deficiencies in the prior art, there is provided a kind of tele-medicine is with double tool control system and user
Method.
To reach above-mentioned purpose, the first technical scheme that the present invention uses for：A kind of tele-medicine is manipulated with double tool
System, including：The image acquisition device and two manipulation objects of remote port are arranged on, and is arranged on the image display of local side
And control device, remote port are connected with local side by networking signal, the control device includes device corresponding with manipulator's limbs,
Respectively：First finger ring corresponding to two hands are each and the second finger ring, each corresponding first pressing piece and second in two palm roots
Pressing piece, and each corresponding first trampling part of two pin and the second trampling part；
Two manipulation objects are respectively the first manipulation object and the second manipulation object, the first finger ring, the first pressing piece and the
The corresponding manipulation of connection first object of one trampling part, the corresponding connection second of the second finger ring, the second pressing piece and the second trampling part
Manipulate object；
First finger ring and the second finger ring include inner ring and are enclosed on two outer shrouds of the inner ring periphery, and the outer shroud can
Rotated relative to the inner ring along own axes, the outer shroud can relatively described inner ring along itself axial dipole field, on the first finger ring
Two outer shrouds be respectively the first outer shroud and the second outer shroud, two outer shrouds on the second finger ring are respectively outside the 3rd outer shroud and the 4th
Ring.
In a preferred embodiment of the present invention, first manipulation object and second manipulation object be respectively positioned on each self-corresponding X-axis-
In Y-axis-Z axis three-dimensional system of coordinate, and the first manipulation object and the second manipulation object are arranged on each self-corresponding rotating part.
In a preferred embodiment of the present invention, when the first outer shroud of first finger ring does the rotation relative to its inner ring
Corresponding instruction is：The manipulation object of instruction first moves along the direction parallel to respective coordinates system X-axis；
When the first outer shroud of first finger ring does the skew relative to its inner ring, corresponding instruct is：The behaviour of instruction first
Control object moves along the direction parallel to respective coordinates system Y-axis；
When the second outer shroud of first finger ring does the rotation relative to its inner ring, corresponding instruct is：The behaviour of instruction first
Control object is rotated centered on the rotating part, the swinging track of the first manipulation object free end is located at X-axis-Y-axis two
The projection that dimension coordinate is fastened is parallel to respective coordinates system X-axis；
When the second outer shroud of first finger ring does the skew relative to its inner ring, corresponding instruct is：The behaviour of instruction first
Control object is rotated centered on the rotating part, the swinging track of the first manipulation object free end is located at X-axis-Y-axis two
The projection that dimension coordinate is fastened is parallel to respective coordinates system Y-axis；
When pressing the first pressing piece, corresponding instruct is：The manipulation object of instruction first carries out function action；
When respectively on the first trampling of trampling part first step on button and second step on button when it is corresponding instruction be：The manipulation pair of instruction first
As being moved back and forth along the direction parallel to respective coordinates system Z axis.
In a preferred embodiment of the present invention, when the 3rd outer shroud of second finger ring does the rotation relative to its inner ring
Corresponding instruction is：The manipulation object of instruction second moves along the direction parallel to respective coordinates system X-axis；
When the 3rd outer shroud of second finger ring does the skew relative to its inner ring, corresponding instruct is：The behaviour of instruction second
Control object moves along the direction parallel to respective coordinates system Y-axis；
When the 4th outer shroud of second finger ring does the rotation relative to its inner ring, corresponding instruct is：The behaviour of instruction second
Control object is rotated centered on the rotating part, the swinging track of the second manipulation object free end is located at X-axis-Y-axis two
The projection that dimension coordinate is fastened is parallel to respective coordinates system X-axis；
When the 4th outer shroud of second finger ring does the skew relative to its inner ring, corresponding instruct is：The behaviour of instruction second
Control object is rotated centered on the rotating part, the swinging track of the second manipulation object free end is located at X-axis-Y-axis two
The projection that dimension coordinate is fastened is parallel to respective coordinates system Y-axis；
When pressing the second pressing piece, corresponding instruct is：The manipulation object of instruction second carries out function action；
When respectively on the second trampling of trampling part the 3rd step on button and the 4th step on button when it is corresponding instruction be：The manipulation pair of instruction second
As being moved back and forth along the direction parallel to respective coordinates system Z axis.
In a preferred embodiment of the present invention, the inner ring inner circumferential is additionally provided with soft cushioning circle, the thickness of the soft cushioning circle
Spend adjustable.
In a preferred embodiment of the present invention, each outer shroud is corresponding with a circle deep-slotted chip breaker, institute in the outer surface of inner ring
Outer shroud inner peripheral surface is stated to be absorbed in the deep-slotted chip breaker.
In a preferred embodiment of the present invention, the finger ring is connected by data wire with the control device.
In a preferred embodiment of the present invention, gap be present between the first outer shroud and the second outer shroud；3rd outer shroud and the 4th
Gap between outer shroud be present.
In a preferred embodiment of the present invention, the first manipulation object and the second manipulation object are installed in respective corresponding machinery
Medical equipment instrument on hand.
In a preferred embodiment of the present invention, the processor is to be provided with the notebook computer of corresponding application software, put down
Plate computer or smart mobile phone.
In a preferred embodiment of the present invention, the medical equipment instrument includes：Surgical scissors, cutter, tweezers, hemostasis
Pincers.
Second of technical scheme that the present invention uses for：A kind of application method of actuation means, the finger ring is worn on
On forefinger, stir the outer shroud using thumb and carry out remote control, during manipulation, pass through image display Real Time Observation remote port
Transmission carrys out picture.
First finger ring and the second finger ring are respectively worn on corresponding forefinger, stirring outer shroud using corresponding thumb is carried out far
Journey manipulates；
Two pin are stepped on the first trampling part and the second trampling part respectively, are exerted a force by the trampling of pin or relaxation force manipulates
First trampling part and the second trampling part；
Two palm roots manipulate the first pressing piece and the second pressing piece respectively by pressing the force that exerts a force or relax；
During manipulation, transmitted by image display Real Time Observation remote port come picture.
The present invention solves defect present in background technology, and the present invention possesses following beneficial effect：
(1) form of the existing actuation means using the larger gripping member of volume has been abandoned, using the smaller finger ring type of structure
Control device, finger ring, can be main to realize by finger, the particularly manipulation of only one thumb by being worn on finger
Control action.
(2) function that the pressing piece set in addition needs with trampling part is triggered by pressure sensor
Instruction, therefore itself structure is uncomplicated, it is only necessary to the laminated structure of a data wire connection, small volume, during carrying only
Need to fall sheet together.
(3) object is manipulated by left hand and left foot manipulation the first manipulation object, the right hand and right crus of diaphragm manipulation second, it can be real
Now for the manipulation of two medical equipment instruments, the cooperation between two medical equipment instruments of manipulation is further realized, mutually
Two instruments coordinated can realize some functions that single tool can not be realized.
(4) due to the finger tip and the interoperation of forefinger by thumb, realize that blind operates, manipulator need not bow and see
The relative position of finger ring and finger, it is thus only necessary to which the sense of touch of thumb can be to realize manipulation, and the eyes of manipulator can be with special
The heart causes the remote pictures on the viewing screen of will.
(5) action of four direction is realized by the cooperation relative motion between inner ring and outer rings, facilitates the small of thumb
Action.
(6) by setting the technical scheme of two outer shrouds in same displacement successfully by two finger ring situations and into one
Individual, intensive setting finger ring, device structure is set more to simplify.
(7) soft cushioning circle can ensure to be socketed stability between finger and finger ring, and stable structure is provided for follow-up manipulation,
Different operating doctors can be matched due to inconvenient caused by finger thickness difference by adjusting the soft cushioning circle of different-thickness simultaneously.
(8) peace such as medical equipment instrument turns on a robotic arm, various teleinstructions to be performed by manipulator, manipulator is led to
Cross remote port video camera passback shooting picture, and by the display screen of processor come realize viewing, display screen can also VR,
AR equipment, it is easy to more really reflect on oneself the operation picture of remote port.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples；
Fig. 1 is the structural representation of the control device of the preferred embodiments of the present invention；
Fig. 2 is the three-dimensional structure diagram of the finger ring of the preferred embodiments of the present invention first；
Fig. 3 is the explosive view of the finger ring of the preferred embodiments of the present invention first；
In figure：1st, the first finger ring；2nd, the second finger ring；3rd, inner ring；4th, the first outer shroud；5th, the second outer shroud；6th, the 3rd outer shroud；7、
4th outer shroud；8th, the first trampling part；9th, the second trampling part；10th, first button is stepped on；11st, second button is stepped on；12nd, the 3rd button is stepped on；13rd,
Four step on button；14th, the first pressing piece；15th, the second pressing piece；16th, deep-slotted chip breaker；17th, soft cushioning circle；18th, data line vias.
Embodiment
Presently in connection with drawings and examples, the present invention is further detailed explanation, and these accompanying drawings are simplified signal
Figure, only illustrate the basic structure of the present invention in a schematic way, therefore it only shows the composition relevant with the present invention.
As shown in Figure 1, Figure 2 and Figure 3, a kind of tele-medicine double tool control system, including：It is arranged on the figure of remote port
As collector and two manipulation objects, and the image display and control device of local side are arranged on, remote port leads to local side
Networking signal connection is crossed, control device includes device corresponding with manipulator's limbs, is respectively：First finger ring corresponding to two hands are each
With the second finger ring, each corresponding first pressing piece in two palm roots and the second pressing piece, and two pin each corresponding first
Trampling part and the second trampling part；
Two manipulation objects are respectively the first manipulation object and the second manipulation object, the first finger ring, the first pressing piece and the
The corresponding manipulation of connection first object of one trampling part, the corresponding connection second of the second finger ring, the second pressing piece and the second trampling part
Manipulate object；
First finger ring and the second finger ring include inner ring and are enclosed on two outer shrouds of inner ring periphery, and outer shroud can be with respect to inner ring
Rotated along own axes, outer shroud can be with respect to inner ring along itself axial dipole field, and two outer shrouds on the first finger ring are respectively first
Outer shroud and the second outer shroud, two outer shrouds on the second finger ring are respectively the 3rd outer shroud and the 4th outer shroud.
Inner ring inner circumferential is additionally provided with soft cushioning circle, and the thickness of soft cushioning circle is adjustable.Soft cushioning circle can ensure finger with referring to
Stability is socketed between ring, structure stably is provided for follow-up manipulation, while the soft cushioning circle by adjusting different-thickness can be with
Different operating doctors are matched due to inconvenient caused by finger thickness difference.
Outer shroud has several segmental arc elasticity to be serially connected, and displacement transducer is provided between outer shroud and inner ring, passes through bullet
Property connection, ensure outer shroud after skew is pushed out, elastic force provide outer shroud displacement restoring force, outer shroud is returned to deep-slotted chip breaker in time
It is interior；Rotating against between outer shroud and inner ring and relative drift condition can be changed into data instantaneous transmission to far by displacement transducer
Cheng Duan forms instruction.
Each outer shroud is corresponding with a circle deep-slotted chip breaker in the outer surface of inner ring, and outer shroud inner peripheral surface is absorbed in deep-slotted chip breaker,
Deep-slotted chip breaker ensures that outer shroud can be fixed in inner ring with more stable, and outside outer shroud not readily disengages from when inner ring is moved relatively
Ring.
Finger ring is connected by data wire with control device.
Gap be present between first outer shroud and the second outer shroud；Gap be present between 3rd outer shroud and the 4th outer shroud., such phase
Rotation and skew between adjacent two outer shrouds just will not interfere, and thumb may have enough when choosing different outer shrouds
Space, prevent other outer shrouds of false touch.Different external annular surfaces on same finger ring set different salient point or burr, ensure big
Thumb can be to distinguish different outer shrouds by sense of touch.
First manipulation object and the second manipulation object are the medical equipment instrument on respective corresponding manipulator, medical
Instrument tool includes：Surgical scissors, cutter, tweezers, haemostatic clamp.
Processor is notebook computer, tablet personal computer or the smart mobile phone for being provided with corresponding application software.
In the preferred embodiments of the present invention：First manipulation object and the second manipulation object are respectively positioned on each self-corresponding X-axis-Y
In axle-Z axis three-dimensional system of coordinate, and the first manipulation object and the second manipulation object are arranged on each self-corresponding rotating part.
Instruction is explained in detail below：
When the first outer shroud of the first finger ring is done relative to its inner ring to be rotated, corresponding instruct is：The manipulation object of instruction first edge
Moved parallel to the direction of respective coordinates system X-axis；
When the first outer shroud of the first finger ring is offset relative to its inner ring, corresponding instruct is：The manipulation object of instruction first edge
Moved parallel to the direction of respective coordinates system Y-axis；
When the second outer shroud of the first finger ring is done relative to its inner ring to be rotated, corresponding instruct is：Instruction first manipulation object with
Rotated centered on rotating part, the swinging track of the first manipulation object free end is located at the projection that X-axis-Y-axis two-dimensional coordinate is fastened
Parallel to respective coordinates system X-axis；
When the second outer shroud of the first finger ring is offset relative to its inner ring, corresponding instruct is：Instruction first manipulation object with
Rotated centered on rotating part, the swinging track of the first manipulation object free end is located at the projection that X-axis-Y-axis two-dimensional coordinate is fastened
Parallel to respective coordinates system Y-axis；
When pressing the first pressing piece, corresponding instruct is：The manipulation object of instruction first carries out function action；
When respectively on the first trampling of trampling part first step on button and second step on button when it is corresponding instruction be：The manipulation pair of instruction first
As being moved back and forth along the direction parallel to respective coordinates system Z axis.
When the 3rd outer shroud of the second finger ring is done relative to its inner ring to be rotated, corresponding instruct is：The manipulation object of instruction second edge
Moved parallel to the direction of respective coordinates system X-axis；
When the 3rd outer shroud of the second finger ring is offset relative to its inner ring, corresponding instruct is：The manipulation object of instruction second edge
Moved parallel to the direction of respective coordinates system Y-axis；
When the 4th outer shroud of the second finger ring is done relative to its inner ring to be rotated, corresponding instruct is：Instruction second manipulation object with
Rotated centered on rotating part, the swinging track of the second manipulation object free end is located at the projection that X-axis-Y-axis two-dimensional coordinate is fastened
Parallel to respective coordinates system X-axis；
When the 4th outer shroud of the second finger ring is offset relative to its inner ring, corresponding instruct is：Instruction second manipulation object with
Rotated centered on rotating part, the swinging track of the second manipulation object free end is located at the projection that X-axis-Y-axis two-dimensional coordinate is fastened
Parallel to respective coordinates system Y-axis；
When pressing the second pressing piece, corresponding instruct is：The manipulation object of instruction second carries out function action；
When respectively on the second trampling of trampling part the 3rd step on button and the 4th step on button when it is corresponding instruction be：The manipulation pair of instruction second
As being moved back and forth along the direction parallel to respective coordinates system Z axis.
A kind of application method of actuation means, including：Finger ring is worn on forefinger, stirring outer shroud using thumb is carried out
Remote control, during manipulation, transmitted by image display Real Time Observation remote port come picture.
First finger ring and the second finger ring are respectively worn on corresponding forefinger, stirring outer shroud using corresponding thumb is carried out far
Journey manipulates；Two pin are stepped on the first trampling part and the second trampling part respectively, are exerted a force by the trampling of pin or relaxation force manipulates
First trampling part and the second trampling part；Two palm roots by press exert a force or relaxation force manipulate respectively the first pressing piece and
Second pressing piece；During manipulation, transmitted by image display Real Time Observation remote port come picture.
The desirable embodiment according to the present invention is enlightenment above, and by above-mentioned description, related personnel completely can be with
Without departing from the scope of the technological thought of the present invention', various changes and amendments are carried out.The technical scope of this invention
The content being not limited on specification, it is necessary to determine the technical scope according to the scope of the claims.
Claims (10)
1. a kind of tele-medicine double tool control system, including：Be arranged on remote port image acquisition device and two manipulation pair
As, and the image display and control device of local side are arranged on, remote port is connected with local side by networking signal, its feature
It is, the control device includes device corresponding with manipulator's limbs, is respectively：First finger ring and second corresponding to two hands are each
First pressing piece and the second pressing piece corresponding to finger ring, two palm roots are each, and each corresponding first trampling part of two pin
With the second trampling part；
Two manipulation objects are respectively the first manipulation object and the second manipulation object, and the first finger ring, the first pressing piece and first step on
The corresponding manipulation of connection first object of casting die, the corresponding manipulation of connection second of the second finger ring, the second pressing piece and the second trampling part
Object；
First finger ring and the second finger ring include inner ring and are enclosed on two outer shrouds of the inner ring periphery, and the outer shroud can be relative
The inner ring rotates along own axes, the outer shroud can relatively described inner ring along itself axial dipole field, two on the first finger ring
Individual outer shroud is respectively the first outer shroud and the second outer shroud, and two outer shrouds on the second finger ring are respectively the 3rd outer shroud and the 4th outer shroud.
A kind of 2. tele-medicine double tool control system according to claim 1, it is characterised in that：First manipulation object
It is respectively positioned on the second manipulation object in each self-corresponding X-axis-Y-axis-Z axis three-dimensional system of coordinate, and the first manipulation object and the second behaviour
Object is controlled to be arranged on each self-corresponding rotating part.
A kind of 3. tele-medicine double tool control system according to claim 2, it is characterised in that：
When the first outer shroud of first finger ring does the rotation relative to its inner ring, corresponding instruct is：The manipulation pair of instruction first
As being moved along the direction parallel to respective coordinates system X-axis；
When the first outer shroud of first finger ring does the skew relative to its inner ring, corresponding instruct is：The manipulation pair of instruction first
As being moved along the direction parallel to respective coordinates system Y-axis；
When the second outer shroud of first finger ring does the rotation relative to its inner ring, corresponding instruct is：The manipulation pair of instruction first
As being rotated centered on the rotating part, the swinging track of the first manipulation object free end is located at X-axis-Y-axis two dimension and sit
The projection fastened is marked parallel to respective coordinates system X-axis；
When the second outer shroud of first finger ring does the skew relative to its inner ring, corresponding instruct is：The manipulation pair of instruction first
As being rotated centered on the rotating part, the swinging track of the first manipulation object free end is located at X-axis-Y-axis two dimension and sit
The projection fastened is marked parallel to respective coordinates system Y-axis；
When pressing the first pressing piece, corresponding instruct is：The manipulation object of instruction first carries out function action；
When respectively on the first trampling of trampling part first step on button and second step on button when it is corresponding instruction be：The manipulation object of instruction first edge
Moved back and forth parallel to the direction of respective coordinates system Z axis.
A kind of 4. tele-medicine double tool control system according to claim 1, it is characterised in that：
When the 3rd outer shroud of second finger ring does the rotation relative to its inner ring, corresponding instruct is：The manipulation pair of instruction second
As being moved along the direction parallel to respective coordinates system X-axis；
When the 3rd outer shroud of second finger ring does the skew relative to its inner ring, corresponding instruct is：The manipulation pair of instruction second
As being moved along the direction parallel to respective coordinates system Y-axis；
When the 4th outer shroud of second finger ring does the rotation relative to its inner ring, corresponding instruct is：The manipulation pair of instruction second
As being rotated centered on the rotating part, the swinging track of the second manipulation object free end is located at X-axis-Y-axis two dimension and sit
The projection fastened is marked parallel to respective coordinates system X-axis；
When the 4th outer shroud of second finger ring does the skew relative to its inner ring, corresponding instruct is：The manipulation pair of instruction second
As being rotated centered on the rotating part, the swinging track of the second manipulation object free end is located at X-axis-Y-axis two dimension and sit
The projection fastened is marked parallel to respective coordinates system Y-axis；
When pressing the second pressing piece, corresponding instruct is：The manipulation object of instruction second carries out function action；
When respectively on the second trampling of trampling part the 3rd step on button and the 4th step on button when it is corresponding instruction be：The manipulation object of instruction second edge
Moved back and forth parallel to the direction of respective coordinates system Z axis.
A kind of 5. tele-medicine double tool control system according to claim 1, it is characterised in that：The inner ring inner circumferential
Soft cushioning circle is additionally provided with, the thickness of the soft cushioning circle is adjustable.
A kind of 6. tele-medicine double tool control system according to claim 1, it is characterised in that：Including each outer shroud
The outer surface of ring is corresponding with a circle deep-slotted chip breaker, and the outer shroud inner peripheral surface is absorbed in the deep-slotted chip breaker.
A kind of 7. tele-medicine double tool control system according to claim 1, it is characterised in that：The finger ring passes through
Data wire is connected with the control device.
A kind of 8. tele-medicine double tool control system according to claim 1, it is characterised in that：First outer shroud and
Gap be present between two outer shrouds；Gap be present between 3rd outer shroud and the 4th outer shroud.
A kind of 9. tele-medicine double tool control system according to claim 1, it is characterised in that：First manipulation object
It is the medical equipment instrument on respective corresponding manipulator with the second manipulation object.
10. the application method of the actuation means according to any claim in claim 1-9, it is characterised in that：By institute
State finger ring to be worn on forefinger, stirring the outer shroud using thumb carries out remote control, and during manipulation, it is real to pass through image display
When observe remote port transmission come picture.
First finger ring and the second finger ring are respectively worn on corresponding forefinger, outer shroud is stirred using corresponding thumb and is remotely grasped
Control；
Two pin are stepped on the first trampling part and the second trampling part respectively, are exerted a force by the trampling of pin or relaxation force manipulates first
Trampling part and the second trampling part；
Two palm roots manipulate the first pressing piece and the second pressing piece respectively by pressing the force that exerts a force or relax；
During manipulation, transmitted by image display Real Time Observation remote port come picture.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710421709.2A CN107411822A (en) | 2017-06-07 | 2017-06-07 | Tele-medicine double tool control system and application method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710421709.2A CN107411822A (en) | 2017-06-07 | 2017-06-07 | Tele-medicine double tool control system and application method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107411822A true CN107411822A (en) | 2017-12-01 |
Family
ID=60428700
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710421709.2A Pending CN107411822A (en) | 2017-06-07 | 2017-06-07 | Tele-medicine double tool control system and application method |
Country Status (1)
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Citations (6)
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|---|---|---|---|---|
| EP0657843A1 (en) * | 1993-12-08 | 1995-06-14 | Hewlett-Packard Company | Cursor control device |
| CN102596086A (en) * | 2009-11-13 | 2012-07-18 | 直观外科手术操作公司 | A master finger tracking device and method of use in a minimally invasive surgical system |
| CN103221901A (en) * | 2010-09-23 | 2013-07-24 | 诺基亚公司 | Apparatus and method for user input |
| CN205540619U (en) * | 2016-03-09 | 2016-08-31 | 周磊 | Dress mouse |
| CN205757646U (en) * | 2016-05-25 | 2016-12-07 | 易怀宇 | A kind of intelligence ring |
| CN107220507A (en) * | 2017-06-06 | 2017-09-29 | 吕煜 | Tele-medicine actuation means and control method |
-
2017
- 2017-06-07 CN CN201710421709.2A patent/CN107411822A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0657843A1 (en) * | 1993-12-08 | 1995-06-14 | Hewlett-Packard Company | Cursor control device |
| CN102596086A (en) * | 2009-11-13 | 2012-07-18 | 直观外科手术操作公司 | A master finger tracking device and method of use in a minimally invasive surgical system |
| CN103221901A (en) * | 2010-09-23 | 2013-07-24 | 诺基亚公司 | Apparatus and method for user input |
| CN205540619U (en) * | 2016-03-09 | 2016-08-31 | 周磊 | Dress mouse |
| CN205757646U (en) * | 2016-05-25 | 2016-12-07 | 易怀宇 | A kind of intelligence ring |
| CN107220507A (en) * | 2017-06-06 | 2017-09-29 | 吕煜 | Tele-medicine actuation means and control method |
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Application publication date: 20171201 |