CN107582305A - A kind of operation table of motion sensing control - Google Patents
A kind of operation table of motion sensing control Download PDFInfo
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- CN107582305A CN107582305A CN201710942825.9A CN201710942825A CN107582305A CN 107582305 A CN107582305 A CN 107582305A CN 201710942825 A CN201710942825 A CN 201710942825A CN 107582305 A CN107582305 A CN 107582305A
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Abstract
The present invention relates to medical instruments field, especially a kind of operation table of motion sensing control, bed body is arranged on the upper end of driving box, electric system and mechanical device are provided with driving box, the lower left quarter of bed body is provided with central control system and is wirelessly input to output device, being wirelessly input to output device includes output interface and input interface, the left upper end of bed body is provided with monitor, bed body is provided with sensing system, central control system connects electric system by output interface, electric system connects sensing system by mechanical device, sensing system connects central control system by input interface, central control system distinguishes connection monitoring device and body-sensing input unit.Beneficial effect of the present invention：The present invention is a full automatic operation table, gathers body-sensing information, calculates the space coordinates of gesture motion, estimate the relative shift of gesture, accurately complete to move using motor, so as to instead of current touch shaking table mode, ensure that sterile requirement.
Description
Technical field
The present invention relates to medical instruments field, especially a kind of operation table of motion sensing control.
Background technology
In operation, it is often necessary to adjust the height of operation table, direction, angle of inclination, therefore shake operation table often to have
Action.Current operation table is mainly controlled by two ways, and one kind is manual shake mechanical device so that operation table adjusts
To necessary position；Another way is electronic mode, moves operation table with motor driving mechanical device, can pass through remote control
Device controlled motor.Both modes all must reach over to operation table or remote control, therefore have an impact to sterility requirements.Although can be with
By circuit nurse come shaking table, but it is not convenient enough.
Therefore, it is necessary to propose a kind of operation table of motion sensing control for above mentioned problem.
The content of the invention
The present invention seeks to overcome deficiency of the prior art, there is provided a kind of computer vision based on body-sensing information
System, the amount of exercise of gesture can be automatically analyzed, the operation of the motion sensing control of the shake of operation table is completed by Mechatronic Systems
Bed, solves the shortcomings that body-sensing input is not accurate enough, there is provided accurate and backtracking mode of operation, it is possible to achieve be adjusted to the parameter specified
Position.
In order to solve the above-mentioned technical problem, the present invention is to be achieved through the following technical solutions：
A kind of operation table of motion sensing control, including bed body and driving box, the bed body is arranged on the upper end of driving box, described
Electric system and mechanical device are provided with driving box, the lower left quarter of the bed body is provided with central control system and is wirelessly input to
Output device, the output device that is wirelessly input to include output interface and input interface, and the left upper end of the bed body is provided with prison
Visual organ, described that bed body is provided with sensing system, the central control system connects electric system by output interface, described
Electric system connects sensing system by mechanical device, and the sensing system connects center control system by input interface
System, the central control system difference connection monitoring device and body-sensing input unit.
Preferably, the posture or gesture of the body-sensing input unit real-time tracking human body, color video frequency image is gathered, it is deep
Image and other skeletons and arthrosis image after treatment are spent, and is output to central control system.
Preferably, the algorithm of the central control system operating analysis gesture motion, is calculated in motion process, palm and
The coordinate in the joint of arm, velocity information, so as to analyze the movement locus of gesture；Handle the status information of operation table, foundation
The movement locus of gesture, the information such as electric system at the time of start, rotating speed and run duration are calculated, are converted into controlled motor system
The instruction of system；After central control system activation, identification is first carried out, the identification mode of use is speech recognition, by grasping
Author sends the predetermined short sentence for representing shaking table, starts input, center control and output system and starts working；The center control
System uses personal computer or embedded computer.
Preferably, the output interface is the communication interface between central control system and electric system, by center
The instruction of electric system caused by control system is sent to electric system, and described input interface is to receive sensing system output
State, and be sent to central control system.
Preferably, the electric system is one group of motor for realizing operation table mechanical movement, the instruction of Rreceive output interface,
Driving mechanical device, the mechanical device are driven by electric system, realize the various adjustment of operation table；The sensing system is
The sensor of one group of detection operation table current state, by input interface Real-time Feedback to central control system, realize to specifying
The accurate adjustment of position, make up body-sensing input accuracy it is low the shortcomings that, the monitor is shown when external crucible state, such as high
Degree, angle of inclination, user input information, realize man-machine interaction.
Preferably, the operation table has three kinds of quick mode, accurate model and trace back mode mode of operations, wherein quickly
Pattern is the input of quick response body-sensing, and central control system calculates the movement locus of gesture in real time, according to the distance of gesture motion,
Angle, range information, the signal of motor operation and the instruction of working time are produced, be output to electric system and drive operation table rapidly
Shaken；Accurate model relies on the parameter of the location status for the operation table that monitoring is shown thereon, and use gesture simulation key mouse input
Parameter is changed, central control system produces the motor command for moving to target component, accurate to drive operation table to move to parameter
Specified location, sensing system feed back the location status of operation table in real time；It is some that trace back mode refers to that operation table can preserve
The state of the sensor of individual position, use gesture the location status for selecting some to pre-save, and shakes operation table to specified location.
Preferably, the body-sensing input unit changes location parameter or the location parameter pre-saved, operation table are not transported
Dynamic, after confirmed, central control system sends instructions to motor, disposably shakes operation table and arrives new position；Monitor shows
The information shown has：Body-sensing input unit state, quick mode, accurate model, the current position state of trace back mode and operation table,
A virtual operation bed of reflection state is depicted, while shows the height and angle parameter of operation table, the target of gesture selection
Object stamps special mark.
Preferably, the monitor is provided with software systems, and the software systems include body-sensing information gathering, computer regards
Feel processing, the information processing of sensor, the software function module of output/input interface and identification；The body-sensing information is adopted
Collection receives video image, depth image and the other information of offer, and the computer vision processing is to input information from body-sensing
In calculate the space coordinates of swivel of hand, the speed of motion, and according to the parameter of motor, converse motor movement scope, from
And causing the range of movement of operation table and the proportional correspondence of range of movement of gesture, the information processing of the sensor is basis
The operation table location status of sensor feedback, update the position of operation table on monitor；The output interface module is to calculate
The motor movement instructions gone out, the signal of motor movement corresponding to generation, the identification module are after system activates, by grasping
Author sends predetermined short sentence, and central control system enters working condition.
Preferably, the software systems establish XYZ reference frame, the direction of coordinate system and medical imaging device
Coordinate system is consistent, and the origin of reference frame is set as that operation table is kept flat, gradient 0, is highly default height；By gesture
The relative displacement of motion, is scaled displacement and angle that bed should move, the relative displacement of gesture and the amount of relative motion of bed it
Between keep approximately linear ratio, so as to control the range of movement that bed inputs to body-sensing.
Preferably, being sat in XYZ references for each several part of the location parameter including bed of bed is obtained from the information processing of sensor
The coordinate fastened is marked, is reflected as highly, angle information, position sensing is respectively mounted on the part of activity is possible on operation table
Device, height sensor and angular transducer；The gesture motion amount that body-sensing input unit provides, the amount of relative motion of bed is converted to,
The parameter of foundation motor, it is scaled the motor message of motor；Output interface at any time, can only send letter to a motor
Number, so as to control operation table to be shaken to two or more direction or angle simultaneously.
Beneficial effect of the present invention：The present invention is a full automatic operation table, gathers body-sensing information, calculates gesture motion
Space coordinates, estimate the relative shift of gesture.According to default ratio, the displacement that operation table should move is transformed to, profit
Accurately completed to move with motor, so as to instead of current touch shaking table mode, ensure that sterile requirement.
Design, concrete structure and the caused technique effect of the present invention are described further below with reference to accompanying drawing, with
It is fully understood from the purpose of the present invention, feature and effect.
Brief description of the drawings
Fig. 1 is the structure chart of the present invention；
Fig. 2 is the structured flowchart of the present invention；
Fig. 3 is the monitor schematic diagram of the present invention.
Embodiment
Embodiments of the invention are described in detail below in conjunction with accompanying drawing, but the present invention can be defined by the claims
Implement with the multitude of different ways of covering.
Such as Fig. 1 and with reference to shown in Fig. 2 and Fig. 3, a kind of operation table of motion sensing control, including bed body 1 and driving box 2, it is described
Bed body 1 is arranged on the upper end of driving box 2, and electric system 3 and mechanical device 4 are provided with the driving box 2, the bed body 1
Lower left quarter is provided with central control system 5 and is wirelessly input to output device 6, and the output device 6 that is wirelessly input to connects including output
Mouth and input interface, the left upper end of the bed body 1 is provided with monitor 7, described that bed body 1 is provided with sensing system 8, described
Central control system 5 connects electric system 4 by output interface, and the electric system 3 connects sensor system by mechanical device 4
System, the sensing system 8 connect central control system 5 by input interface, and the central control system 5 distinguishes connection monitoring
Device 7 and body-sensing input unit, the posture or gesture of the body-sensing input unit real-time tracking human body, gather color video figure
Picture, depth image and other skeletons and arthrosis image after treatment, and it is output to central control system.
Further, the algorithm of the central control system operating analysis gesture motion, is calculated in motion process, palm
With the coordinate in the joint of arm, velocity information, so as to analyze the movement locus of gesture；The status information of operation table is handled, according to
According to the movement locus of gesture, the information such as electric system at the time of start, rotating speed and run duration are calculated, are converted into controlled motor
The instruction of system；After central control system activation, identification is first carried out, the identification mode of use is speech recognition, by
Operator sends the predetermined short sentence for representing shaking table, starts input, center control and output system and starts working；The center control
System processed uses personal computer or embedded computer.
Further, the output interface is the communication interface between central control system and electric system, by
The instruction of electric system caused by the control system of centre is sent to electric system, and described input interface is that reception sensing system is defeated
The state gone out, and it is sent to central control system.
Further, the electric system is one group of motor for realizing operation table mechanical movement, the finger of Rreceive output interface
Order, driving mechanical device.The mechanical device is driven by electric system, realizes the various adjustment of operation table；The sensor system
System is the sensor of one group of detection operation table current state, passes through input interface Real-time Feedback to central control system, realization pair
The accurate adjustment of specified location, make up body-sensing input accuracy it is low the shortcomings that, the monitor is shown when external crucible state, such as
Highly, angle of inclination, user input information, realize man-machine interaction.
Further, the operation table has three kinds of quick mode, accurate model and trace back mode mode of operations, wherein soon
Fast mode is the input of quick response body-sensing, and central control system calculates the movement locus of gesture in real time, according to gesture motion away from
From angle, range information, producing the signal of motor operation and the instruction of working time, be output to the rapid band of electric system and start
Art bed is shaken；Accurate model relies on the parameter of the location status for the operation table that monitoring is shown thereon, and use gesture simulation key mouse
Input modification parameter, central control system produces the motor command for moving to target component, accurate to drive operation table to move to
Parameter specified location, sensing system feed back the location status of operation table in real time；Trace back mode refers to that operation table can preserve
The state of the sensor of several positions, use gesture the location status for selecting some to pre-save, and shakes operation table to specific bit
Put.
Further, the body-sensing input unit changes location parameter or the location parameter pre-saved, and operation table is not
Motion, after confirmed, central control system sends instructions to motor, disposably shakes operation table and arrives new position；Monitor
The information of display has：Body-sensing input unit state, quick mode, accurate model, the current location shape of trace back mode and operation table
State, depicts a virtual operation bed of reflection state, while shows the height and angle parameter of operation table, the mesh of gesture selection
Mark object stamps special mark.
Further, the monitor is provided with software systems, and the software systems include body-sensing information gathering, computer
Visual processes, the information processing of sensor, output/input interface and the software function module of identification；The body-sensing information
Collection receives video image, depth image and the other information of offer, and the computer vision processing is to input to believe from body-sensing
Calculate the space coordinates of swivel of hand in breath, the speed of motion, and according to the parameter of motor, motor movement scope is conversed,
So that the range of movement of operation table and the proportional correspondence of the range of movement of gesture, the information processing of the sensor is root
According to the operation table location status of sensor feedback, the position of operation table on monitor is updated；The output interface module is to count
The motor movement instructions calculated, the signal of motor movement corresponding to generation, the identification module be after system activates, by
Operator sends predetermined short sentence, and central control system enters working condition.
Wherein, the software systems establish XYZ reference frame, the direction of coordinate system and the seat of medical imaging device
Mark system is consistent, and the origin of reference frame is set as that operation table is kept flat, gradient 0, is highly default height；Gesture is transported
Dynamic relative displacement, displacement and angle that bed should move are scaled, between the relative displacement of gesture and the amount of relative motion of bed
The ratio of approximately linear is kept, so as to control the range of movement that bed inputs to body-sensing.
In addition, from the information processing of sensor obtain bed location parameter include bed each several part in XYZ reference coordinates
The coordinate fastened, it is reflected as highly, angle information, position sensing is respectively mounted on the part of activity is possible on operation table
Device, height sensor and angular transducer；The gesture motion amount that body-sensing input unit provides, the amount of relative motion of bed is converted to,
The parameter of foundation motor, it is scaled the motor message of motor；Output interface at any time, can only send letter to a motor
Number, so as to control operation table to be shaken to two or more direction or angle simultaneously.
The present invention is a full automatic operation table, gathers body-sensing information, calculates the space coordinates of gesture motion, estimates hand
The relative shift of gesture.According to default ratio, the displacement that operation table should move is transformed to, is accurately completed using motor
Motion, so as to instead of current touch shaking table mode, ensure that sterile requirement.
The operation table of motion sensing control be one by cordless control, combine body-sensing technology, computer vision,
Sensor technology, the intelligentized operation table of mechanical device.Described body-sensing input unit is a seizure gesture motion information
Device, side is provided with infrared sensor, in human body close to automatic activation input unit.Described body-sensing refers to the hand of human body
Gesture or posture.Described central control system is a computer system, and reception includes body-sensing input unit, sensing system
Input information, according to mode of operation, realize man-machine interaction, calculate and output campaign instructs.At described computer vision
Reason is the information provided according to body-sensing input unit, calculates the space coordinates of hand and arm major joint, movement velocity, and
And particular motor and range of movement that electric system needs to start are conversed, pushing mechanical device motion.Described output interface
Device is one group of motion control device, receives the movement instruction that central control system is sent, and send signal to electric system.
Described electric system provides power, including multiple electric motors, realize operation table raising and lowering respectively, lean forward and after lift, tilt
With the different motion of recovery.The mechanical device realizes the motion of operation table by motor driven.The sports bag of described operation table
Include the necessary various motions of current procedure bed.The state of described sensing system capture operation table, including height, inclination angle
The information such as degree, forward leaning angle, these information are used for the calculating for realizing the movement instruction of the different working modes of body-sensing bed.Described
Monitor system shows current system mode.
Body-sensing input unit nearby installs infrared sensor, and installs a row signal lamp, represents start respectively, stops work
Make, be ready, work fair state.Body-sensing input unit is nearby also equipped with light source, is lighted automatically after system activates.Described
Monitor is placed on behind body-sensing input unit, is connected to computer system.Described output interface and electric system are arranged on hand
Art bed bottom, directly it is connected with mechanical device.
Described output device is one group of kinetic control system, is connected with electric system, and the telecommunications of motion is sent to motor
Number.Input unit is receiving sensor information.Input and output can be by wired or wirelessly.Described sensor
The position of all movable parts on operation table is mounted in, height, angular transducer.
The light source of body-sensing input unit is the visible ray of high brightness, and the cover of body-sensing input unit is not easy with smooth
The material for being stained with material is made, and electric system can accurately control mobile distance, and the electric signal sent by output interface controls,
Operation table has positioner, controls movable maximum magnitude, including original position and final position.
The information that the state of bed is provided by sensing system is drawn and formed.In fast mode, the increase of each part is reduced
Button, backtracking button are failed, and the moving range of bed is converted into by gesture moving range.Select accurate model, the increasing of each part
Big reduction button can use, and realize the adjustment to location parameter.Selected backtracking pattern, the backtracking shape advanced for can be selected
State, what is settled at one go is adjusted to specified location.
Preferred embodiment of the invention described in detail above.It should be appreciated that one of ordinary skill in the art without
Creative work can is needed to make many modifications and variations according to the design of the present invention.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical scheme, all should be in the protection domain being defined in the patent claims.
Claims (10)
- A kind of 1. operation table of motion sensing control, it is characterised in that：Including bed body and driving box, the bed body is arranged on driving box Upper end, electric system and mechanical device is provided with the driving box, the lower left quarter of the bed body is provided with central control system Be wirelessly input to output device, the output device that is wirelessly input to includes output interface and input interface, the upper left of the bed body End is provided with monitor, described that bed body is provided with sensing system, and the central control system connects electricity by output interface Machine system, the electric system connect sensing system by mechanical device, and the sensing system is connected by input interface Central control system, the central control system difference connection monitoring device and body-sensing input unit.
- A kind of 2. operation table of motion sensing control as claimed in claim 1, it is characterised in that：The body-sensing input unit in real time with The posture or gesture of track human body, gather color video frequency image, depth image and other skeletons and joint after treatment Image, and it is output to central control system.
- A kind of 3. operation table of motion sensing control as claimed in claim 1, it is characterised in that：The central control system operation point The algorithm of gesture motion is analysed, is calculated in motion process, the coordinate in the joint of palm and arm, velocity information, so as to analyze The movement locus of gesture；Handle operation table status information, according to gesture movement locus, calculate electric system startup when The information such as quarter, rotating speed and run duration, are converted into the instruction of controlled motor system；After central control system activation, identification is first carried out, the identification mode of use is speech recognition, is sent out by operator Go out to represent the predetermined short sentence of shaking table, start input, center control and output system and start working；The central control system is adopted With personal computer or embedded computer.
- A kind of 4. operation table of motion sensing control as claimed in claim 1, it is characterised in that：The output interface is central control Communication interface between system and electric system, the instruction of electric system caused by central control system is sent to motor System, described input interface is the state for receiving sensing system output, and is sent to central control system.
- A kind of 5. operation table of motion sensing control as claimed in claim 1, it is characterised in that：The electric system is one group of realization The motor of operation table mechanical movement, the instruction of Rreceive output interface, driving mechanical device.The mechanical device is by electric system band It is dynamic, realize the various adjustment of operation table；The sensing system is the sensor of one group of detection operation table current state, passes through input interface Real-time Feedback to center Control system, realize the accurate adjustment to specified location, make up body-sensing input accuracy it is low the shortcomings that, the monitor is shown Work as external crucible state, such as height, angle of inclination, user inputs information, realizes man-machine interaction.
- A kind of 6. operation table of motion sensing control as claimed in claim 1, it is characterised in that：The operation table has Fast Modular Three kinds of formula, accurate model and trace back mode mode of operations, wherein quick mode are that quick response body-sensing inputs, central control system In real time calculate gesture movement locus, according to gesture motion distance, angle, range information, produce motor operation signal and The instruction of working time, it is output to electric system and drives operation table to be shaken rapidly；Accurate model relies on the parameter of the location status for the operation table that monitoring is shown thereon, and use gesture simulation key mouse input modification ginseng Number, central control system produces the motor command for moving to target component, accurate to drive operation table to move to parameter specific bit Put, sensing system feeds back the location status of operation table in real time；Trace back mode refers to that operation table can preserve the state of the sensor of several positions, uses gesture and selects some to pre-save Location status, shake operation table to specified location.
- A kind of 7. operation table of motion sensing control as claimed in claim 1, it is characterised in that：The body-sensing input unit changes position The location parameter put parameter or pre-saved, operation table do not move, and after confirmed, central control system sends instructions to electricity Machine, disposably operation table is shaken and arrives new position；The information that monitor is shown has：Body-sensing input unit state, quick mode, accurate model, trace back mode and operation table Current position state, depicts a virtual operation bed of reflection state, while shows the height and angle parameter of operation table, hand The destination object of gesture selection stamps special mark.
- A kind of 8. operation table of motion sensing control as claimed in claim 1, it is characterised in that：The monitor is provided with software system System, the software systems include body-sensing information gathering, computer vision processing, the information processing of sensor, output/input interface With the software function module of identification,The body-sensing information gathering receives video image, depth image and the other information of offer, at the computer vision Reason is that the space coordinates for calculating swivel of hand is inputted in information from body-sensing, the speed of motion, and according to the parameter of motor, conversion Go out motor movement scope, so that the range of movement of operation table and the proportional correspondence of the range of movement of gesture, the sensing The information processing of device is the operation table location status according to sensor feedback, updates the position of operation table on monitor；The output interface module is the motor movement instructions that will be calculated, the signal of motor movement corresponding to generation, the body Part identification module is after system activates, and predetermined short sentence is sent by operator, central control system enters working condition.
- A kind of 9. operation table of motion sensing control as claimed in claim 8, it is characterised in that：The software systems establish XYZ Reference frame, the direction of coordinate system is consistent with the coordinate system of medical imaging device, and the origin of reference frame is set as hand Art bed is kept flat, gradient 0, is highly default height；By the relative displacement of gesture motion, displacement and angle that bed should move, the relative displacement of gesture and the phase of bed are scaled Ratio to keeping approximately linear between amount of exercise, so as to control the range of movement that bed inputs to body-sensing.
- A kind of 10. operation table of motion sensing control as claimed in claim 8, it is characterised in that：Obtained from the information processing of sensor The coordinate fastened in XYZ reference coordinates of each several part of the location parameter including bed of bed is taken, is reflected as height, angle information, hand On art bed position sensor, height sensor and angular transducer are respectively mounted on the part of activity is possible to；The gesture motion amount that body-sensing input unit provides, the amount of relative motion of bed is converted to, according to the parameter of motor, is scaled electricity The motor message of machine；Output interface at any time, can only send signal to motor, so as to control operation table can not simultaneously to two with Upper direction or angle are shaken.
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| CN111206845A (en) * | 2019-12-19 | 2020-05-29 | 珠海格力电器股份有限公司 | Control method and device of intelligent French window, terminal and storage medium |
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| CN112603721A (en) * | 2020-12-18 | 2021-04-06 | 温州市中心医院 | Cardiovascular intervention operation treatment bed |
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