CN110297437B

CN110297437B - Operating table control method and device

Info

Publication number: CN110297437B
Application number: CN201810238641.9A
Authority: CN
Inventors: 魏超; 王丹
Original assignee: Nanjing Mindray Bio Medical Electronics Co Ltd
Current assignee: Nanjing Mindray Bio Medical Electronics Co Ltd
Priority date: 2018-03-21
Filing date: 2018-03-21
Publication date: 2022-10-21
Anticipated expiration: 2038-03-21
Also published as: CN110297437A

Abstract

The application discloses a method and a device for controlling an operating table, wherein the method comprises the following steps: detecting a first input of a user; responding to the first input, and acquiring a first parameter of the first input; determining the movement speed of the operating table according to the value of the first parameter; and controlling the operating table to execute actions according to the determined movement speed of the operating table. The application can improve the controllability of the operating table by providing the operating table control method.

Description

Operating table control method and device

Technical Field

The application relates to the technical field of medical instruments, in particular to a control method and device for an operating table.

Background

In the control and use process of the operating table, the speed controllability of the bed body movement module has important practical significance for users.

Currently, the following methods are used for controlling the speed of the bed body: firstly, a user can control the operation of the operating table to realize different movement speeds by simultaneously pressing a speed key and an action key on a control panel. Secondly, the user presses the speed key with the required movement speed on the control panel and then presses the specific action function key at the current speed to operate the bed body to move. And thirdly, the user presses an acceleration function key or a deceleration function key while pressing an action function key to change the movement speed.

Among above several kinds of modes, first mode and second mode, because the number of the last speed function key of control panel is limited, can only use the operating table control of fixed speed, and the third mode needs the user to operate with both hands or realize the speed configuration earlier when using, then operates the bed body motion, and the nature controlled of operating table is not good.

Disclosure of Invention

The embodiment of the application provides a control method for an operating table, which can improve the controllability of the operating table.

In a first aspect, an embodiment of the present application provides a method, including:

detecting a first input of a user;

responding to the first input, and acquiring a first parameter of the first input;

determining the movement speed of the operating table according to the value of the first parameter;

and controlling the operating table to execute actions according to the determined movement speed of the operating table.

With reference to the first aspect, in a first implementation manner of the first aspect, the determining the movement speed of the operating table according to the value of the first parameter specifically includes:

and obtaining the movement speed of the operating table corresponding to the value of the first parameter from the preset corresponding relation between the first parameter and the movement speed.

With reference to the first implementation manner of the first aspect, in a second implementation manner of the first aspect, the obtaining the movement speed of the operating table corresponding to the value of the first parameter from the preset corresponding relationship between the first parameter and the movement speed specifically includes:

identifying a current value set in which the value of the first parameter falls;

searching the movement speed of the operating table corresponding to the current value set from the corresponding relation between the preset value set and the movement speed; different sets of values correspond to different speeds of movement.

With reference to the first implementation manner of the first aspect, in a third implementation manner of the first aspect, the method further includes: detecting a second input of a user before detecting a first input of the user, wherein the second input is used for determining an operation mode associated with the first input; under different operation modes, the corresponding relation between the first parameter and the movement speed is different;

obtaining the movement speed of the operating table corresponding to the value of the first parameter from the preset corresponding relationship between the first parameter and the movement speed, specifically comprising:

determining the corresponding relation between the first parameter and the movement speed in the operation mode according to the operation mode;

and obtaining the movement speed of the operating table corresponding to the value of the first parameter from the corresponding relation between the first parameter and the movement speed.

With reference to the third implementation manner of the first aspect, in a fourth implementation manner of the first aspect, the operation modes include a constant speed operation mode, where in the constant speed operation mode, the corresponding movement speeds of the first parameters with different values in the corresponding relationship between the first parameters and the movement speeds are all equal to a first value.

With reference to the first aspect, in a fifth implementation manner of the first aspect, the method further includes: acquiring a first operation table motion type associated with the first input;

the controlling the operating table to execute actions according to the determined movement speed of the operating table specifically includes:

and controlling the operation table to execute the action corresponding to the motion type of the first operation table according to the determined motion speed of the operation table.

With reference to the first aspect, in a sixth implementation manner of the first aspect, the first parameter includes at least one of the following: pressing time, pressing force, pressing area, or sliding speed.

With reference to the first aspect or the sixth implementation manner of the first aspect, in a seventh implementation manner of the first aspect, in a case that the first parameter is a compression degree, the determining, according to a value of the first parameter, a movement speed of the operating table includes: determining the value of the movement speed of the operating bed according to the magnitude of the pressing force;

or the like, or, alternatively,

under the condition that the first parameter is the pressing area, determining the movement speed of the operating table according to the value of the first parameter comprises the following steps: determining the value of the movement speed of the operating table according to the size of the pressing area;

or the like, or, alternatively,

under the condition that the first parameter is the pressing time, determining the movement speed of the operating table according to the value of the first parameter comprises the following steps: determining the value of the movement speed of the operating table according to the length of the pressing time;

or the like, or, alternatively,

under the condition that the first parameter is the sliding speed, determining the movement speed of the operating table according to the value of the first parameter comprises the following steps: and determining the value of the movement speed of the operating table according to the sliding speed.

With reference to the first aspect, in an eighth implementation manner of the first aspect, the method further includes:

outputting a first prompt for prompting a value of a movement speed for controlling the operation table to execute actions;

and/or the presence of a gas in the atmosphere,

and outputting a second prompt for prompting the change trend of the movement speed of the operating bed.

In a second aspect, the present application provides a method of controlling an operating table comprising a table top, a column, and a base, wherein one or more of the table top, column, and base is provided with a movable component; the operating bed further comprises a manipulator for controlling the movable part to perform actions; the manipulator comprises a first function key; the method comprises the following steps:

the manipulator responds to a first input acting on the first function key, and acquires the current pressing pressure degree of the first input;

and the manipulator determines the movement speed of the corresponding controlled movable part according to the value of the current pressing strength, and controls the corresponding movable part to execute the action of a specific operation table movement type according to the determined movement speed of the corresponding movable part.

With reference to the second aspect, in a first implementation manner of the second aspect, the determining, by the controller, the movement speed of the controlled corresponding movable component according to the value of the current pressing force specifically includes:

the manipulator obtains the moving speed of the corresponding movable component corresponding to the value of the current pressing force degree from the corresponding relation between the preset pressing force degree and the moving speed of the corresponding movable component.

With reference to the first implementation manner of the second aspect, in a second implementation manner of the second aspect, the obtaining, by the manipulator, the moving speed of the corresponding movable component corresponding to the value of the current pressing force degree from a corresponding relationship between preset pressing force degrees and moving speeds of the corresponding movable components specifically includes:

the controller identifies a current value set in which the value of the current pressure degree falls;

the controller finds the movement speed of the corresponding movable component corresponding to the current value set from the corresponding relation between the preset value set and the movement speed; different sets of values correspond to different speeds of movement.

With reference to the second aspect, in a third implementation manner of the second aspect, the method further includes:

the manipulator acquiring, in response to a first input acting on the first function key, the specific bed movement type to be performed by the corresponding movable part to be controlled, associated with the first input; the specific operating bed movement type is a preset operating bed movement type associated with the first function key.

With reference to the second aspect, in a fourth implementation manner of the second aspect, the manipulator further includes a second function key; the method further comprises the following steps:

and the manipulator responds to a second input acting on the second function key, acquires a preset operating table motion type corresponding to the second function key, and determines the operating table motion type corresponding to the second function key as the specific operating table motion type to be executed by the controlled corresponding movable component.

With reference to the second aspect, in a fifth implementation manner of the second aspect, the first input includes a user input within a first time period; the pressing force of the first input comprises a plurality of values, and the plurality of values represent that the controller respectively detects the pressing force of the user input at a plurality of moments in the first time period;

the controller determines the movement speed of the controlled corresponding movable component according to the value of the current pressing force, and specifically comprises:

the manipulator determines the movement speed of the corresponding movable component for executing the movement of the specific operation table movement type at a plurality of moments in the first time period according to the values of the pressing force degrees at each moment;

the controller controls the corresponding movable component to execute the action corresponding to the specific operation table motion type according to the determined motion speed of the corresponding movable component, and specifically includes:

and the manipulator respectively controls the corresponding movable part to execute the action corresponding to the specific operating table motion type according to the motion speed of the corresponding movable part determined at each moment in a plurality of moments in the first time period.

In a third aspect, an embodiment of the present application provides an operating table control device, including:

the input device comprises a first function key and is used for responding to a first input acting on the first function key and acquiring the pressing pressure degree acting on the first function key;

the processor is used for determining the movement speed of the operating bed controlled by the control device according to the value of the pressing degree; and

and the communication interface is used for transmitting the determined movement speed of the operating table to the operating table so that the operating table executes the action of a specific operating table movement type according to the determined movement speed of the operating table.

With reference to the third aspect, in a first implementation manner of the third aspect, when the degree of pressing is a first value, the processor determines that the operating table performs an action at a first movement speed, and when the degree of pressing is a second value, the processor determines that the operating table performs an action at a second movement speed.

With reference to the third aspect or the first implementation manner of the third aspect, in a second implementation manner of the third aspect, the first function key includes a pressing force degree sensor and a motion type sensor; the control device responds to a first input acting on the first function key, and obtains the pressing pressure degree and the specific operation table motion type in parallel through the pressing pressure degree sensor and the motion type sensor.

With reference to the third aspect or the first implementation manner of the third aspect, in a third implementation manner of the third aspect, the first function key includes a pressing force degree sensor, and the input device further includes a second function key provided with a motion type sensor; the control device responds to a first input acting on the first function key and obtains the pressing pressure degree through the pressing pressure degree sensor, and the control device responds to a second input acting on the second function key and obtains the specific operation table motion type through the motion type sensor.

With reference to the third aspect or the first implementation manner of the third aspect, in a fourth implementation manner of the third aspect, the operating table control device is a hand controller, and the hand controller further includes a display screen, where the display screen is configured to output a value for controlling a movement speed of the operating table to perform an action; and/or the display screen is used for outputting the variation trend of the movement speed of the action executed by the operating table.

In a fourth aspect, the present application provides another apparatus comprising a processor, an input device, an output device, and a memory, the processor, the input device, the output device, and the memory being interconnected, wherein the memory is configured to store code that supports the apparatus to perform the method of the first aspect, and the processor is configured to perform the method of the first aspect.

In a fifth aspect, the present application provides a computer-readable storage medium storing a computer program comprising program instructions that, when executed by a processor, cause the processor to perform the method of the first or second aspect described above.

In a sixth aspect, the present application provides a computer program comprising program instructions which, when executed by a processor, cause the processor to perform the method of the first or second aspect described above.

The embodiment of the application has the following beneficial effects:

the operating table control device acquires a first parameter of a first input by detecting the first input of a user and responding to the first input. And the operating bed determines the movement speed of the operating bed according to the value of the first parameter, and controls the operating bed to execute actions according to the determined movement speed of the operating bed. The operation and control performance of the operating table can be improved through the embodiment, and convenience is provided for a user to control the operating table.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a communication architecture diagram of an operating table control provided in an embodiment of the present application;

fig. 2 is a schematic flow chart of a control method for an operating table according to an embodiment of the present application;

fig. 3 is a schematic flow chart of a method for controlling an operating bed according to another embodiment of the present application;

fig. 4A is a control panel interface diagram of a control method for an operating table according to an embodiment of the present application;

fig. 4B is a control panel interface diagram of another operating table control method provided in the embodiment of the present application;

fig. 5 is a schematic structural diagram of a control device of an operating table according to an embodiment of the present application;

fig. 6 is a schematic structural diagram of another operating table control device provided in the embodiment of the present application;

fig. 7 is a schematic structural diagram of a control device for an operating table according to another embodiment of the present application;

fig. 8 is a schematic structural diagram of another operating table control device provided in another embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it should be understood that the described embodiments are some, but not all embodiments of the present application. All other embodiments that can be derived by a person skilled in the art from the embodiments given herein without making any inventive effort fall within the scope of protection of the present application.

It is to be understood that the terminology used in the embodiments of the present application is for the purpose of describing particular embodiments only, and is not intended to be limiting of the application. As used in the examples of this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

The control device of the operating table and the control method thereof can realize the flexibility of the movement speed configuration of each movable part of the operating table. The surgical bed control apparatus may detect a variable/different input provided by a user acting thereon, configure a movement speed based on the variable/different input, provide a movement speed corresponding to the user variable/different input in the variable speed mode of operation. For example, when the variable/different input provided by the user is different pressing force, the operating table control device may output different operating table movement speeds according to the magnitude of the pressing force. For example, when the pressing force is a first value, the movement speed of the operating table is a first movement speed corresponding to the first value; when the pressing degree is a second value different from the first value, the movement speed of the operating table is a second movement speed corresponding to the second value, and the difference between the second movement speed and the first movement speed depends on the specific corresponding relation between the pressing degree and the movement speed.

Referring to fig. 1, fig. 1 is a communication architecture diagram of an operating table control according to an embodiment of the present application. As shown in fig. 1, the operating table control device 1, which may be referred to as a manipulator, may be integrated with the operating table, and may communicate with the operating table using a data bus to control the movement of the operating table 2. The operation table control device 1 may be a line control device that is not integrated with the operation table 2, and communicates with the operation table through a data line to control the movement of the operation table. The operation table control device 1 may be a wireless control device that communicates with the operation table 2 by wireless communication means such as infrared rays and bluetooth to control the movement of the operation table 2. The operating bed 2 may comprise a table top, a column, a base, wherein one or more of the table top, the column and the base is provided with movable parts. The operating table control device 1 can control the movable components corresponding to the table top, the upright post or the base in the operating table 2 to perform corresponding actions at a specific movement speed.

In fact, in the prior art, some operating table control devices require the user to press the speed function key and the action function key on the panel of the operating table control device with both hands, which brings great inconvenience to the user. There are also some existing operating table control devices, which can only complete the control of the operating table at a fixed speed and control the continuous change of the movement speed of the operating table.

Therefore, the application provides a control method of the operating table, which can improve the controllability of the movement speed configuration of the operating table.

The following describes a method for controlling an operating bed provided by the present application in detail through several embodiments.

Referring to fig. 2, a schematic flow chart of a method for controlling an operating table provided in the present application is shown in fig. 2, where the method may include, but is not limited to, the following steps: S201-S204.

S201, detecting a first input of a user.

In this embodiment, the first input may be an input monitored by the operating table control device through a function key, and the function key may include a function key based on a mechanical function key, a micro switch, a touch screen, an infrared sensor, a proximity sensor, a rheostat, an angle sensor, an external pressure sensor, or other analog quantity or digital quantity, and the like.

S202, responding to the first input, and acquiring a first parameter of the first input.

In a specific implementation, the first parameter includes, but is not limited to, at least one of the following: the first input may be a pressing input of a user, and the operating table control device may detect the pressing input of the user to obtain the pressing time, the pressing degree, the pressing area, or the pressing area of the first input. The first input may also be a sliding input of the user, and the operating table control device may also detect the sliding input of the user and obtain a sliding speed of the first input.

S203, determining the movement speed of the operating table according to the value of the first parameter.

Specifically, the first parameters include, but are not limited to, pressing time, pressing pressure, pressing area, and sliding speed.

In the case where the first parameter is the pressing time, the operation table control device may determine the value of the movement speed of the operation table according to the length of the pressing time. When the first parameter is the degree of pressing force, the operating table control device may determine the value of the movement speed of the operating table based on the degree of pressing force. In the case where the first parameter is the pressing area, the operation table control device may determine the value of the movement speed of the operation table according to the size of the pressing area. When the first parameter is the sliding speed, the operating table control device may determine the value of the movement speed of the operating table according to the speed of the sliding speed.

Optionally, before determining the movement speed of the operating table according to the value of the first parameter, the operating table control device may determine whether the first parameter meets a first condition, and if so, determine the movement speed of the operating table.

In a specific implementation, when the first parameter is a pressing time, the operating table control device may determine whether the pressing time is greater than a first time threshold, and if so, determine a movement speed of the operating table according to the pressing time. If the first parameter is the pressing force, the operating table control device may determine whether the pressing force is greater than a first pressure threshold, and if so, determine the movement speed of the operating table according to the pressing force. If the first parameter is the pressing area, the operating table control device may determine whether the pressing force is greater than a first area threshold, and if so, determine the movement speed of the operating table according to the pressing area. If the first parameter is the sliding speed, the operating table control device may determine whether the sliding speed is greater than a first speed threshold, and if so, determine the movement speed of the operating table according to the sliding speed. The first condition is not limited to the time threshold, the pressure threshold, the area threshold, and the speed threshold, and is not limited thereto.

The operating table control device determines the movement speed of the operating table by judging whether the first parameter meets the first condition or not, and if so, the movement speed of the operating table is determined to control the operating table, so that improper operation of the operating table caused by mistaken touch of the operating table control device can be prevented, and the safety of the operating table control device for controlling the movement of the operating table is improved.

The following explains specifically how the control device of the operating table determines the movement speed of the operating table according to the value of the first parameter. The movement speed of the operating table may be a linear speed or an angular speed, and is not particularly limited herein.

The operating table control device can obtain the movement speed of the operating table corresponding to the value of the first parameter from the preset corresponding relation between the first parameter and the movement speed.

Specifically, the corresponding relationship between the first parameter and the movement speed may be preset in the operating table control device, and the corresponding relationship between the first parameter and the movement speed may be a continuous type. For example, the correspondence relationship may be a function V =0.5 × X, where V is a movement speed, X is a first parameter, and the movement speed of the operating table may be determined by obtaining a value of the first parameter and the function. The above examples are merely illustrative of the present application and should not be construed as limiting. The movement speed of the operating table corresponding to the value of the first parameter is obtained from the preset corresponding relation between the first parameter and the movement speed through the operating table control device, the operating table control device can control the operating table to execute actions at a continuous and smooth speed, and the controllability of the operating table is improved.

1. In an optional implementation manner, the operating table control device may identify a current value set in which the value of the first parameter falls, and search for the movement speed of the operating table corresponding to the current value set from a preset correspondence between the value set and the movement speed, where different value sets correspond to different movement speeds. The corresponding relationship between the preset value set and the movement speed can be as shown in the following table 1:

TABLE 1

In the case where the first parameter is the pressing time, the first parameter unit may be seconds(s). Where the first parameter is the degree of compression, the first parameter may have units of newtons (N). In the case where the first parameter is the area to be pressed, the first parameter unit may be square centimeters (cm ^ 2). In the case where the first parameter is the sliding speed, the unit of the first parameter may be meters per second (m/s). Only the type of the first parameter unit is explained above, and the first parameter unit in the same type is not limited.

As shown in table 1, the value sets may be 0 to 0.5 (first parameter unit), 0.5 to 1 (first parameter unit), 1 to 1.5 (first parameter unit), etc., the movement speed corresponding to the value sets 0 to 0.5 (first parameter unit) may be 0.1m/s or 0.1rad/s, the movement speed corresponding to the value sets 0.5 to 1 (first parameter unit) may be 0.2m/s or 0.2rad/s, and the movement speed corresponding to the value sets 1 to 1.5 (first parameter unit) may be 0.3m/s or 0.3rad/s. The correspondence between the preset value set and the movement speed shown in table 1 is only used for explaining the present application and should not be construed as limiting.

Each value set may be uniform or non-uniform as shown in table 1, and for example, each value set may be 0 to 0.5 (first parameter unit), 0.5 to 1.5 (first parameter unit), 1.5 to 3 (first parameter unit), 3 to 5 (first parameter unit), or the like, and is not limited thereto.

2. In another alternative implementation, the surgical bed control apparatus may detect a second input by the user prior to detecting the first input by the user, the second input being used to determine an operation mode associated with the first input. Under different operation modes, the corresponding relation between the first parameter and the movement speed is different. Then, the operating bed control device determines the corresponding relation between the first parameter and the movement speed in the operating mode according to the operating mode. Then, the operating table control device may obtain the movement speed of the operating table corresponding to the value of the first parameter from the corresponding relationship between the first parameter and the movement speed.

Optionally, the operation modes include a constant speed mode, and in the constant speed operation mode, the corresponding movement speeds of the first parameters with different values in the corresponding relationship between the first parameter and the movement speed are all equal to the first value.

The corresponding relationship between the first parameter and the movement speed in different modes can be shown in the following table 2:

TABLE 2

Referring to table 2 above, it can be seen that the sensitivity of the movement speed varying with the first parameter is different in different operation modes, in operation mode 1, V =0.5 × x, the movement speed varies linearly with the value of the first parameter, and in operation mode 2, V =12 x, the movement speed also linearly changes along with the change of the value of the first parameter, but the slope of the straight line in the operation mode 2 is greater than that in the operation mode 1, which indicates that the sensitivity of the user for controlling the movement of the operation table through the operation table is greater in the operation mode 2. In the case of the operation mode 3,

the movement speed changes into a curve along with the value change of the first parameter. In the constant speed mode of operation, V =1, the speed of movement is fixed at 1m/s or 1rad/s. The foregoing is merely illustrative of the present application and is not to be construed as limiting.

The switching between different operation modes can adapt to various practical application scenes of the operating table more flexibly, and the safety of the operating table in use is ensured while more convenience is provided for users. For example, when the operation table is set before the start of the operation, the operation mode 2 of table 2, for example, can be selected to quickly position the operation table. In order to avoid the influence of too fast speed on the safety of the operating bed, the operating mode can be selected to be the constant speed operating mode shown in table 2, and the movable part of the operating bed can be finely adjusted at a certain speed.

It should be noted that the two optional implementation manners may be implemented in combination, that is, the operating table control device may detect a second input of the user before detecting the first input of the user, where the second input is used to determine an operation mode associated with the first input, and in different operation modes, a value set of the first parameter has a different corresponding relationship with the movement speed. The operating table control device may determine, according to the operation mode, a correspondence between a value set of the first parameter and the movement speed in the operation mode, and obtain, from the correspondence between the value set of the first parameter and the movement speed, the movement speed of the operating table corresponding to the current value set of the first parameter.

The operation mode of first input association is determined through the operation bed control device, and then the corresponding relation of the first parameter and the movement speed is determined under the operation mode, so that the control of the operation bed control device on different sensitivities of the operation bed can be realized, the operation bed control device can control the movement of the operation bed to be suitable for different environments, and the applicability of the operation bed is improved.

And S204, controlling the operating table to execute actions according to the determined movement speed of the operating table.

Specifically, the operating table control device may obtain a first operating table motion type associated with the first input, and then control the operating table to execute an action corresponding to the first operating table motion type according to the determined motion speed of the operating table. The first surgical bed motion type includes: ascending of the operating table, descending of the operating table, rotation of the operating table, horizontal movement of the operating table and the like.

In specific implementation, the operating table control device may send an execution instruction to the operating table, where the execution instruction may be used to control the operating table to execute an action corresponding to the motion type of the first operating table according to the motion speed of the operating table.

Optionally, the operating table control device may further output a first prompt for prompting a value of a movement speed for controlling the operating table to perform an action. For example, the operating table control device may output the value of the first movement speed through the display screen, and the operating table control device may also output the value of the first movement speed through another output device, which is not limited herein. Through outputting the first prompt in the implementation, the value of the movement speed of the operating table is prompted, so that the user can directly judge the speed of the first movement speed, the user can conveniently adjust the value of the input first parameter, and the movement speed of the operating table is further adjusted.

Optionally, the control device of the operating table may further output a second prompt for prompting a change trend of the movement speed of the operating table. For example, the operating table control device can output the acceleration value of the movement of the operating table, so that the user can judge the speed trend of the movement of the operating table, and adjust and input the first parameter value of the operating table control device in real time, thereby realizing the adjustment of the movement speed of the operating table.

Through this application embodiment, the first parameter of operation table controlling means detection user input according to the value of first parameter, determines the velocity of motion of operation table to control the operation table and carry out the action according to the velocity of motion of this operation table, can make things convenient for the user to the adjustment of operation table velocity of motion, improved the nature controlled of operation table.

In the following, the first parameter is the degree of pressing, and how to control the movement speed of the operating table through the degree of pressing is described in detail through the embodiments.

In this application embodiment, the first parameter is a first degree of pressure, and the operating table control device can control the movement speed of the operating table through the degree of pressure. The operation table includes: a table top, a column and a base, wherein one or more of the table top, the column and the base is provided with a movable part, the operating table comprises a manipulator for controlling the movable part to perform actions, and the manipulator can be an operating table control device in the embodiment of the method shown in fig. 2.

Please refer to fig. 3, which is a schematic flowchart of a control method for an operating table provided in the present application. As shown in fig. 3, the method includes, but is not limited to, the steps of: S301-S304.

S301, the controller detects a first input on the first function key.

In this embodiment, the first input may be a first input monitored by the operating table control device through a function key.

S302, the manipulator responds to a first input acting on the first function key and acquires the current pressing pressure degree of the first input.

Specifically, the first function key may be a function key with pressure detection. The first function key may be used to obtain a current degree of pressing pressure of a first input in response to the first input.

In a specific implementation, the first function key may be a function key for detecting pressure based on a mechanical function key, a touch screen, an external pressure sensor or other analog quantity, digital quantity, or the like.

And S303, the manipulator determines the movement speed of the corresponding controlled movable component according to the value of the current pressing force.

Specifically, the manipulator may obtain the moving speed of the corresponding movable component corresponding to the value of the current pressing force degree from the corresponding relationship between the preset pressing force degree and the moving speed.

In one implementation, the pressure-based degree-to-movement-speed correspondence may be of a continuous type. For example, the correspondence may be a function V =0.5 × F, where V is a movement speed, and F is a first parameter, and the movement speed of the operating table may be determined by the obtained first parameter value and the function. The above examples are merely illustrative of the present application and should not be construed as limiting. The movement speed of the corresponding movable component corresponding to the value of the current pressing strength is obtained from the preset corresponding relation between the pressing strength and the movement speed through the operating table control device, so that the controller can control the corresponding movable component to execute actions at variable speed, and the controllability of the operating table is improved.

In an optional implementation manner, the controller may identify a current value set into which a value of the current pressing degree falls, and search, from a corresponding relationship between a preset value set and a movement speed, a movement speed of the corresponding movable component corresponding to the current value set, where different value sets correspond to different movement speeds. The corresponding relationship between the preset value set and the movement speed can be as shown in the following table 3:

TABLE 3

As shown in Table 3, the value set can be 0N-0.5N, 0.5N-1N, 1N-1.5N, etc., the movement speed corresponding to the value set 0N-0.5N can be 0.1m/s or 0.1rad/s, the movement speed corresponding to the value set 0.5N-1N can be 0.2m/s or 0.2rad/s, and the movement speed corresponding to the value set 1N-1.5N can be 0.3m/s or 0.3rad/s. The correspondence between the preset value set and the movement speed shown in table 1 is only used for explaining the present application and should not be construed as limiting.

Each value set may be uniform or non-uniform as shown in table 1, and for example, each value set may be 0N to 0.5N, 0.5N to 1.5N, 1.5N to 3N, 3N to 5N, or the like, and is not limited thereto.

Optionally, before determining the movement speed of the corresponding controlled movable component according to the value of the current pressing force, the controller may determine whether the current pressing force is greater than the first pressure threshold. And if the current pressing force is greater than the first pressure threshold, determining the movement speed of the corresponding controlled movable component according to the value of the current pressing force.

In a specific implementation, the manipulator may receive a first pressure threshold input by a user. For example, the first pressure threshold value at which the manipulator receives the user input may be 0.1N, 0.5N, 1N, 2N, and so on, and the examples are only for explaining the present application and should not be construed as limiting. Whether the first parameter is larger than the first pressure threshold value or not is judged through the controller, if yes, the movement speed of the controlled corresponding movable component is determined according to the value of the current pressing degree, so that the control over the operating table is completed, improper operation of the operating table caused by mistaken touch of the controller can be prevented, and the safety of the operating table control device for controlling the movement of the operating table is improved.

In one possible implementation, the manipulator may obtain the specific table motion type to be performed by the corresponding movable part to be controlled, which may include, but is not limited to, table displacement, table rotation, table lifting, and other motion types.

The operating table control device may include a manner of acquiring a specific operating table motion type as shown in fig. 4A or a manner of acquiring a specific operating table motion type as shown in fig. 4B, but is not limited to these two manners, and fig. 4A and 4B are only used for explaining the present application and should not be construed as limiting.

Two ways of obtaining a particular type of movement of the operating table, shown in fig. 4A and in fig. 4B, are explained in detail below.

1. The manipulator may obtain, in response to a first input acting on a first function key, the specific table motion type to be performed by the corresponding movable part to be controlled, which is associated with the first input, and the specific table motion type is a preset table motion type associated with the first function key.

As shown in fig. 4A, the control panel of the manipulator may have a first function key, and the first function key may be any one of the function keys "S1", S2", S3" and S4 "shown in fig. 4A. The function key "S1", the function key "S2", the function key "S3" and the function key "S4" are respectively corresponding to different types of motion of the operating table.

For example, the correspondence relationship between the function key "S1", the function key "S2", the function key "S3", and the function key "S4" and the type of the operation bed exercise may be as shown in table 4 below.

Function key	Operation table movement type corresponding to function keys
		S1	Clockwise rotation of operating bed
S2	Counterclockwise rotation of operating bed
		S3	Operating table lifting
S4	Descending of operating table
		……	……

TABLE 4

Referring to table 4 above, function key "S1" may correspond to a specific operation table motion type in which a column of the operation table rotates clockwise, function key "S2" may correspond to a specific operation table motion type in which a column of the operation table rotates counterclockwise, function key "S3" may correspond to a specific operation table motion type in which a table top of the operation table ascends, and function key "S4" may correspond to a specific operation table motion type in which a table top of the operation table descends. In addition, other first function keys may be included to correspond to specific movement types of the operating table, such as base translation, leg board lifting, head board lifting, and the like of the operating table, and the function keys included in the control panel of the manipulator are not limited to those shown in table 4, and actually, more function keys and specific movement types of the operating table corresponding to the function keys may be provided, which is not limited herein.

In a specific implementation, the controller may determine the movement speed of the controlled corresponding movable component by receiving the pressing force of the user on the function key "S1", the function key "S2", the function key "S3", and the function key "S4", and detecting the pressing force degree of the user and the specific operation table movement type.

2. The manipulator may detect a second input acting on a second function key. The manipulator may respond to the second input, obtain a preset operating bed motion type corresponding to the second function key, and determine the operating bed motion type corresponding to the second function key as the specific operating bed motion type to be executed by the corresponding controlled movable component.

Wherein the second function key may be a non-pressure detecting function key based on a mechanical function key, a micro switch, a touch screen, an infrared induction, a proximity sensor, a rheostat, an angle sensor, and the like.

As shown in fig. 4B, the control panel of the manipulator may have a first function key and a second function key. The first function key may be the function key "S" shown in fig. 4B, and the second function key may be any one of the function keys "A1", a function key "A2", a function key "A3", and a function key "A4" shown in fig. 4B. The function key "S" is a pressure detection type function key, and the function keys "A1", a function key "A2", a function key "A3" and a function key "A4" are non-pressure detection type function keys, which are respectively corresponding to different operation table motion types.

For example, the correspondence relationship between the function key "A1", the function key "A2", the function key "A3", and the function key "A4" and the type of the movement of the operating bed may be as shown in table 5 below.

Function key	Operation table movement type corresponding to function keys
		A1	Clockwise rotation of operating bed
A2	Counterclockwise rotation of operating bed
		A3	Operating table lifting
A4	Descending of operating table
		……	……

TABLE 5

Referring to table 5 above, function key "A1" may correspond to a specific operation table motion type in which a column of the operation table rotates clockwise, function key "A2" may correspond to a specific operation table motion type in which a column of the operation table rotates counterclockwise, function key "A3" may correspond to a specific operation table motion type in which a table top of the operation table ascends, and function key "A4" may correspond to a specific operation table motion type in which a table top of the operation table descends. In addition, the control panel of the controller may further include other second function keys corresponding to specific movement types of the operating table, such as base translation, leg board lifting, and head board lifting, and the function keys included in the control panel of the controller are not limited to those shown in table 5, and actually there may be more second function keys and specific movement types of the operating table corresponding to the second function keys, which is not limited herein.

In a specific implementation, the controller may detect the pressing pressure degree by receiving a user pressing the function key "S" (a first function key), and the operating table control device may obtain the specific operating table motion type by receiving a user pressing the function key "A1", "A2", "A3", and "A4" (a second function key). The manipulator can determine the movement speed of the corresponding controlled movable part under the specific operating table movement type according to the pressing force and the specific operating table movement type. The examples shown in table 5 are merely illustrative of the present application and should not be construed as limiting.

The following explains in detail how the controller determines the movement speed of the corresponding movable component to be controlled according to the relationship between the pressing force degree and the movement speed and the value of the current pressing force degree.

Taking the motion types of the operating tables in table 4 or table 5 as an example, the motion types of the operating tables corresponding to the function keys on the control panel of the manipulator may include: the four operation bed movement types of 'clockwise rotation of the operation bed', 'anticlockwise rotation of the operation bed', 'ascending of the operation bed' and 'descending of the operation bed' are all associated with corresponding relations between the pressing pressure degree and the movement speed of the first function key. The first operation bed movement type can be any one of the four operation bed movement types.

In one specific implementation, the pressing force degree and the movement speed of different controlled movable components can have different corresponding relations, and the flexibility of the movement control of different movable components is further enhanced. For example, the overall translation of the table top of the operating table is configured to be more flexible than the movement response of components such as leg plates/head plates/seat plates of the operating table, and the movement speed is faster under the same degree of pressing. For example, the correspondence relationship between the pressing force degree and the movement speed acting on the first function key, which are respectively associated with the operation table movement type "operation table clockwise rotation", the operation table movement type "operation table counterclockwise rotation", the operation table movement type "operation table ascending" and the operation table movement type "operation table descending", may be as shown in table 6 below.

TABLE 6

Referring to table 6 above, the correspondence between the pressing force degree and the movement speed acting on the first function key associated with the operation table movement type "operation table clockwise rotation" may be "W =0.5 × F", where W is the angular speed (unit: rad/s) of the operation table clockwise rotation, and F is the pressing force degree (unit: N) acting on the first function key. For example, the motion type of the operating table acquired by the manipulator may be "clockwise rotation of the operating table", and the current pressing force may be 3N, and the manipulator may determine that the clockwise rotation speed of the column of the operating table under the specific motion type of the operating table (clockwise rotation of the operating table) is 1.5rad/s. The examples are merely illustrative of the present application and should not be construed as limiting.

The correspondence between the pressing force degree acting on the first function key and the movement speed associated with the "counterclockwise rotation of the operation table" type of movement of the operation table may be "W =0.2 ^ 2) +0.1", where W is the angular speed (unit: rad/s) at which the operation table rotates counterclockwise and F is the pressing force degree acting on the first function key (unit: N). For example, the type of the movement of the operating table acquired by the manipulator may be "clockwise rotation of the operating table", and the first pressing force may be 3N, and the manipulator may determine that the column rotation speed of the operating table under the specific type of the movement of the operating table (counterclockwise rotation of the operating table) is 1.9rad/s. The examples are merely illustrative of the present application and should not be construed as limiting.

The correspondence between the degree of pressing pressure acting on the first function key and the movement speed associated with the "table ascent" movement type of the operating table may be "V =2 × F when F is not greater than 5N; when F is greater than 5N, V =10". Wherein V is the ascending speed of the operation bed (unit: cm/s), and F is the pressing force degree acting on the first function key (unit: N). For example, the first surgical bed movement type acquired by the manipulator may be "surgical bed elevation", and the first pressing force may be 3N, so that the manipulator may determine that the table top elevation speed of the surgical bed under the specific surgical bed movement type (surgical bed elevation) is 6cm/s. When the current pressing degree is 6N, the rising speed is 10cm/s. The examples are merely illustrative of the present application and should not be construed as limiting.

The correspondence between the degree of pressing pressure acting on the first function key and the movement speed associated with the "table descent" movement type of the operating table may be "V =2 × F when F is not greater than 5N; when F is greater than 5N, V =10". Wherein V is the ascending speed of the operation bed (unit: cm/s), and F is the pressing force degree acting on the first function key (unit: N). For example, if the type of the movement of the operating table acquired by the manipulator may be "table-up", and the first pressing force may be 3N, the manipulator may determine that the table-board descending speed of the operating table under the specific type of the movement of the operating table (table-up) is 6cm/s. When the current pressing degree is 6N, the descending speed is 10cm/s. The examples are merely illustrative of the present application and should not be construed as limiting.

It should be noted that, in addition to the above four operation table motion types, the control panel of the manipulator may further include another specific operation table motion type in which the second function key may translate corresponding to the base of the operation table, and the specific operation table motion type in which the base translates may be associated with a corresponding relationship between the pressing force and the motion speed acting on the first function key.

Through the steps, the controller can control the operating table to execute the actions of the operating table at different movement speeds according to different operating table movement types, the control function of the controller is enriched, and a user can conveniently control the operating table by using the controller.

S304, controlling the corresponding movable part to execute the action of the specific operation table movement type according to the determined movement speed of the corresponding movable part.

In particular, the manipulator may send an execution instruction to the surgical bed, where the execution instruction may be used to control a controlled corresponding movable component of the surgical bed to execute a motion of a specific surgical bed motion type according to the determined motion speed of the corresponding movable component.

Optionally, the manipulator may further output a first prompt for prompting a value of a movement speed for controlling the surgical bed to move to execute the action. For example, the controller may display and output the value of the movement speed of the operating table through the display screen, and the controller may also output the value of the first movement speed through another output device, which is not limited herein. Through the first suggestion of output, the value of the rate of motion of suggestion operation table in this implementation, the user of can being convenient for directly judges the speed of operation table rate of motion, and the user of being convenient for adjusts the first degree of pressing of oneself pressing first function key to further adjust the speed of motion of operation table.

Optionally, the operating table control device may further output a second prompt for prompting a change trend of the first movement speed. For example, the controller can output the acceleration value of the movement of the operating table, so that the user can judge the variation trend of the movement speed of the operating table and adjust the pressing pressure for pressing the first function key in real time, thereby realizing the adjustment of the movement speed of the operating table.

It should be noted that the above steps S301 to S304 may be continuously executed for a plurality of times in a time period.

Specifically, the first input comprises a user input within a first time period; the pressing strength of the first input may include a plurality of values, where the plurality of values indicate that the manipulator detects the pressing strength of the user input at a plurality of times within the first time period, respectively. First, the manipulator may determine, at a plurality of times within the first time period, a movement speed at which the corresponding movable component executes the movement of the specific operation table movement type according to the value of the degree of pressing at each time. Then, the controller may control the corresponding movable component to perform the action corresponding to the specific operation table movement type according to the movement speed of the corresponding movable component determined at each moment in time at a plurality of moments in the first time period.

Through this application embodiment, the operation table action of different velocities of motion can be carried out to different operation table motion types control operation tables to the controller, can also realize continuous type or gradient formula control mode, richened the control function of controller, can make things convenient for the user to utilize the control of controller to the operation table, improved the nature controlled of operation table.

Fig. 5 is a schematic structural diagram of a control device of an operating table provided in the present application. The device 50 may be an operating table control device in the implementation of the method shown in fig. 2. As shown in fig. 5, the apparatus 50 may include: a detection unit 510, an acquisition unit 520, a determination unit 530, and a control unit 540. Wherein the content of the first and second substances,

the detecting unit 510 may be configured to detect a first input of a user.

An obtaining unit 520, configured to obtain a first parameter of the first input in response to the first input.

A determination unit 530, operable to perform an action according to the determined movement speed of the operating table according to the operating table.

In a possible case, the determining unit 530 may be specifically configured to obtain the movement speed of the operating table corresponding to the value of the first parameter from a preset corresponding relationship between the first parameter and the movement speed.

In another possible case, the determining unit 530 may be specifically configured to identify a current value set in which the value of the first parameter falls, and then the determining unit 530 finds the movement speed of the operating table corresponding to the current value set from a preset corresponding relationship between the value set and the movement speed. Wherein different value sets correspond to different movement speeds.

In yet another possible case, the detecting unit 510 may be further configured to detect a second input of the user before detecting the first input of the user, where the second input is used to determine an operation mode associated with the first input. Wherein, under different operation modes, the corresponding relation between the first parameter and the movement speed is different. The determining unit 530 may be specifically configured to determine, according to the operation mode, a corresponding relationship between the first parameter and the movement speed in the operation mode, and then the determining unit 530 obtains the movement speed of the operating table corresponding to the value of the first parameter from the corresponding relationship between the first parameter and the movement speed.

In yet another possible case, the operation mode includes a constant speed operation mode, where in the constant speed operation mode, the movement speeds of the first parameters with different values in the correspondence relationship between the first parameters and the movement speeds are all equal to a first value.

In yet another possible case, the obtaining unit 520 may be configured to obtain a first type of motion of the surgical bed associated with the first input. The control unit 540 may be configured to control the operating table to execute an action corresponding to the first operating table motion type according to the determined motion speed of the operating table.

In yet another possible case, the first parameter includes at least one of: pressing time, pressing force, pressing area, or sliding speed. In the case that the first parameter is a degree of pressing force, the determining unit 530 may be specifically configured to determine the value of the movement speed of the operating table according to the degree of pressing force.

In case that the first parameter is a pressing area, the determining unit 530 may be specifically configured to determine a value of the movement speed of the operating table according to a size of the pressing area. In case the first parameter is the pressing time, the determining unit 530 can be specifically configured to determine the value of the movement speed of the operating table according to the length of the pressing time. In the case that the first parameter is a sliding speed, the determining unit 530 may be specifically configured to determine the value of the movement speed of the operating table according to the speed of the sliding speed.

In a further possible case, the device 50 may further comprise an output unit operable to output a first prompt for a value of a movement speed for controlling the operation table to perform an action; and/or outputting a second prompt for prompting the change trend of the movement speed of the operating table.

It should be noted that the apparatus 50 shown in fig. 5 is only one implementation manner of the embodiment of the present application, and reference may be made to the method embodiment shown in fig. 2. In practical applications, the apparatus 50 may also include other units, which are not limited herein.

Fig. 6 is a schematic structural diagram of another operating table control device provided in the present application. The device 60 may be a manipulator in the method implementation shown in fig. 3, which manipulator comprises first function keys. As shown in fig. 6, the apparatus 60 may include: detection unit 610, acquisition unit 620, determination unit 630, control unit 640. Wherein, the first and the second end of the pipe are connected with each other,

the detecting unit 610 may be configured to detect a first input acting on a first function key.

The obtaining unit 620 may be configured to obtain, in response to a first input acting on the first function key, a current pressing pressure level of the first input.

A determining unit 630, configured to determine a moving speed of the corresponding controlled movable component according to the value of the current pressing force.

A control unit 640, operable to control said corresponding movable part to perform an action of a specific table movement type according to the determined movement speed of said corresponding movable part.

In a possible case, the determining unit 630 is specifically configured to obtain the moving speed of the corresponding movable component corresponding to the value of the current pressing force degree from a preset corresponding relationship between the pressing force degree and the moving speed.

In a possible case, the determining unit 630 may be specifically configured to first identify a current value set in which the value of the current pressure degree falls, and then search for the movement speed of the corresponding movable component corresponding to the current value set from a preset corresponding relationship between the value set and the movement speed; different value sets correspond to different values of the movement velocity.

In a possible case, the obtaining unit 620 is further configured to obtain, in response to a first input acting on the first function key, a type of movement of the specific operating table to be performed by the corresponding movable part controlled in association with the first input. The specific operating bed movement type is a preset operating bed movement type associated with the first function key.

In a possible case, the manipulator further includes a second function key, and the obtaining unit 620 is further configured to, in response to a second input acting on the second function key, obtain a preset type of table motion corresponding to the second function key, and determine the type of table motion corresponding to the second function key as the specific type of table motion to be performed by the controlled corresponding movable component.

In one possible scenario, the first input includes user input over a first time period. The pressing force of the first input includes a plurality of values, and the plurality of values represent that the controller detects the pressing force of the user input at a plurality of times within the first time period. The determining unit 630 may be specifically configured to determine, at a plurality of times within the first time period, a movement speed at which the corresponding movable component executes the movement of the specific operation table movement type according to the value of the pressing force at each time. The control unit 640 is specifically configured to control the corresponding movable component to perform the action corresponding to the motion type of the specific operating table according to the motion speed of the corresponding movable component determined at each time at a plurality of times within the first time period.

It should be noted that the apparatus 60 shown in fig. 6 is only one implementation of the embodiment of the present application,

for specific implementation, reference may be made to the method embodiment shown in fig. 3. In practical applications, the apparatus 60 may also include other units, which are not limited herein.

Fig. 7 is a schematic structural diagram of another operating table control device provided by the present application. As shown in fig. 7, the apparatus 70 may include: at least one processor 701, e.g., a CPU, at least one network interface 704, a memory 705, a clock module 703, at least one communication bus 702, an input device 706, an output device 707. The clock module 703 is mainly used for generating clocks required for data transmission and timing control for the processor 701. The memory 705 is coupled to the processor 701 via the communication bus 702, and the memory 705 may be a high-speed RAM memory or a non-volatile memory (e.g., at least one disk memory). The operating bed control device 70 may communicate with the operating bed using the communication interface 704.

The Processor 701 may be a Central Processing Unit (CPU), and may also be other general purpose processors, digital Signal Processors (DSP), application Specific Integrated Circuits (ASIC), field-Programmable Gate arrays (FPGA) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, and so forth. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The communication interface 704 may be used to enable the reception and transmission of communication signals between the operating table control device and the operating table. Communication interface 704 may include, but is not limited to, a data bus wired communication interface, an infrared wireless communication interface, a bluetooth wireless communication interface, and the like. The communication interface 704 may specifically be configured to send instructions with the type of movement of the operating table and the speed of movement of the operating table to the operating table, thereby controlling the operating table to perform actions according to the determined speed of movement of said operating table.

The output device 707 may be configured to output a first prompt and/or a second prompt, where the first prompt may be used to prompt a value of a movement speed for controlling the movement of the operating table, and the second prompt may be used to prompt a variation trend of the movement speed of the operating table. The output device 707 may include a Display 7071, an audio circuit 7072, and the like, and optionally, the Display 7071 may be configured in the form of a Liquid Crystal Display (LCD), an Organic Light-Emitting Diode (OLED), and the like. The display screen 7071 may output a representation of the picture class and/or the video class of the first cue and/or the second cue. Optionally, audio circuitry 7072 may be used to provide an audio interface between the user and device 70. The audio circuitry 7072 may implement an audio-like presentation of the first prompt and/or the second prompt.

The input device 706 may include a first function key, wherein the first function key may be a function key based on a mechanical function key, a micro switch, a touch screen, infrared sensing, a proximity sensor, a rheostat, an angle sensor, an external pressure sensor or other analog quantity, digital quantity, or the like. The first function key can be used for detecting the pressing time, the pressing pressure degree, the pressing area or the sliding speed of the first input of the user, and the first function key can also be used for acquiring the motion type of the operating table.

In an alternative, the input device 706 may include a first function key and a second function key. Wherein, the first function key can be a function key for detecting pressure based on mechanical function key, micro switch, touch screen, infrared induction, proximity sensor, rheostat, angle sensor, external pressure sensor or other analog quantity, digital quantity, etc. The first function key may be used to detect a pressing time, a pressing force degree, a pressing area, a sliding speed, or the like of the first input by the user. The second function key may be a detection function key based on a mechanical function key, a micro switch, a touch screen, infrared sensing, a proximity sensor, a rheostat, an angle sensor, and the like. The second function key may be used to detect a type of movement of the operating table input by the user.

In the present application, the processor 701 may be configured to read and execute computer readable instructions. Specifically, the processor 701 may be configured to call a program in the memory 705, such as an implementation program of the operating table control method (fig. 2, corresponding to the embodiment) provided in this application, and execute instructions contained in the program.

It should be noted that the apparatus 80 shown in fig. 8 is only one implementation manner of the embodiment of the present application, and in practical applications, the terminal 80 may also include more or less components, and is not limited herein.

Fig. 8 is a schematic structural view of another operating table control device provided in the present application. As shown in fig. 8, the apparatus 80 may include: at least one processor 801, e.g. a CPU, at least one network interface 804, a memory 805, a clock module 803, at least one communication bus 802, an input device 806, an output device 807. The clock module 803 is mainly used for generating clocks required for data transmission and timing control for the processor 801. The memory 805 is coupled to the processor 801 via a communication bus 802, and the memory 805 may be a high-speed RAM memory or a non-volatile memory (e.g., at least one disk memory). The operating bed control device 80 may communicate with the operating bed using the communication interface 804.

The Processor 801 may be a Central Processing Unit (CPU), and the Processor may be other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The communication interface 804 may be used to implement the receiving and sending of communication signals between the operating table control device and the operating table. The communication interface 804 may include, but is not limited to, a data bus wired communication interface, an infrared wireless communication interface, a bluetooth wireless communication interface, and the like. The communication interface 804 may be specifically configured to send a command with a motion type and a motion speed of the surgical bed to the surgical bed, so as to control the surgical bed to execute an action corresponding to the motion type of the first surgical bed according to the motion speed.

The output device 807 can be used to output a first prompt and/or a second prompt, where the first prompt can be used to prompt a value for controlling the movement speed of the operation table, and the second prompt can be used to prompt a change trend of the movement speed of the operation table. The output device 807 may include a Display screen 8071, an audio circuit 8072, and the like, and optionally, the Display screen 8071 may be configured by using a Liquid Crystal Display (LCD), an Organic Light-Emitting Diode (OLED), and the like. The display screen 8071 may output a picture-like and/or video-like representation of the first prompt and/or the second prompt. Optionally, audio circuitry 8072 may be used to provide an audio interface between the user and device 80. The audio circuitry 8072 may implement an audio-like presentation of the first prompt and/or the second prompt.

The input device 806 may include a first function key, wherein the first function key may be a function key based on a mechanical function key, a micro switch, a touch screen, infrared sensing, a proximity sensor, a rheostat, an angle sensor, an external pressure sensor or other analog quantity, digital quantity, or the like, which detects pressure. The first function key can be used for detecting the pressing force of the first input of the user, and the first function key can also be used for acquiring a specific operation table motion type.

In an alternative approach, the input device 806 may include a first function key and a second function key. Wherein, the first function key may be a function key based on mechanical function key, micro switch, touch screen, infrared induction, proximity sensor, rheostat, angle sensor, external pressure sensor or other analog quantity, digital quantity and the like. The first function key may be used to detect a first degree of pressure of a first input by a user. The second function key may be a non-pressure detecting function key based on a mechanical function key, a micro switch, a touch screen, infrared sensing, a proximity sensor, a rheostat, an angle sensor, and the like. The second function key may be used to detect a particular type of table motion entered by the user.

In the present application, the processor 801 may be configured to read and execute computer readable instructions. Specifically, the processor 801 may be configured to call a program in the memory 805, such as an implementation program of the operating table control method provided in the present application (in the embodiment corresponding to fig. 3), and execute instructions contained in the program.

In another embodiment of the present application, a computer-readable storage medium is provided, which stores a computer program, which when executed by a processor implements the method shown in fig. 2 or fig. 3 described above.

The computer readable storage medium may be an internal storage unit of the apparatus according to any of the preceding embodiments, for example, a hard disk or a memory of the apparatus. The computer readable storage medium may also be an external storage device of the apparatus, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), etc. provided on the apparatus. Further, the computer-readable storage medium may also include both an internal storage unit and an external storage device of the terminal. The computer-readable storage medium is used for storing the computer program and other programs and data required by the terminal. The computer readable storage medium may also be used to temporarily store data that has been or will be output.

Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the various embodiments described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the various embodiments have been described in a functional generic sense in the foregoing description for the purpose of clearly illustrating the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the technical solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

It can be clearly understood by those skilled in the art that, for convenience and simplicity of description, the specific working processes of the above-described apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the several embodiments provided in the present application, it should be understood that the disclosed method and apparatus may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one type of logical functional division, and other divisions may be implemented in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may also be an electric, mechanical or other form of connection.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the scheme of the application.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may substantially or partially contribute to the prior art, or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium, and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method described in the embodiments of the present application. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the present application, and these modifications or substitutions should be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A method for controlling an operating bed, comprising:

detecting a first input of a user for a first function key;

acquiring a first operation table motion type associated with the first input;

controlling the operating table to execute actions according to the determined movement speed of the operating table;

wherein the method further comprises:

detecting a second input of the user before detecting the first input of the user, wherein the second input is used for determining an operation mode associated with the first input; under different operation modes, the corresponding relation between the first parameter and the movement speed is different, so that the control of different sensitivities of the operation bed is realized;

the determining the movement speed of the operating table according to the value of the first parameter specifically includes: according to the operation mode, determining the corresponding relation between the first parameter and the movement speed in the operation mode; obtaining the movement speed of the operating table corresponding to the value of the first parameter from the corresponding relation between the first parameter and the movement speed;

the controlling the operating table to execute actions according to the determined movement speed of the operating table specifically includes: and controlling the operating table to execute the motion of the first operating table motion type according to the determined motion speed of the operating table.

2. The method according to claim 1, wherein the obtaining of the movement speed of the operating table corresponding to the value of the first parameter from the corresponding relationship between the first parameter and the movement speed further comprises:

3. The method according to claim 1, wherein the operation mode comprises a constant speed operation mode, and in the constant speed operation mode, the corresponding movement speeds of the first parameter with different values in the corresponding relationship between the first parameter and the movement speed are all equal to a first value.

4. The method of claim 1, wherein the first parameter comprises at least one of: pressing time, pressing force, pressing area, or sliding speed.

5. The method according to any one of claims 1 or 4, wherein in the case that the first parameter is a degree of compression, determining the movement speed of the operating table according to the value of the first parameter comprises: determining the value of the movement speed of the operating table according to the magnitude of the pressing force;

or the like, or a combination thereof,

or the like, or, alternatively,

6. The method of claim 1, further comprising:

outputting a first prompt for prompting a value of a movement speed for controlling the operating table to execute actions;

and/or the presence of a gas in the atmosphere,

and outputting a second prompt for prompting the change trend of the movement speed of the operating table.

7. A control method of an operating table comprises a table top, a stand column and a base, wherein one or more of the table top, the stand column and the base is provided with a movable component; the operating table further comprises a manipulator for controlling the movable part to perform actions; characterized in that the manipulator comprises a first function key; the method comprises the following steps:

the manipulator responds to a first input acting on the first function key, acquires the current pressing pressure degree of the first input, and acquires the specific operation table motion type to be executed by the corresponding movable component;

the manipulator determines the movement speed of the controlled corresponding movable part according to the value of the current pressing degree, and controls the corresponding movable part to execute the action of a specific operation table movement type according to the determined movement speed of the corresponding movable part;

wherein the method further comprises:

the manipulator detects a second input of the user before detecting a first input of the user, wherein the second input is used for determining an operation mode associated with the first input; under different operation modes, the corresponding relation between the pressure degree and the movement speed is different, so that the control of different sensitivities of the operation bed is realized;

the controller determines the movement speed of the controlled corresponding movable component according to the value of the current pressing strength, and specifically includes:

determining the corresponding relation between the pressing force and the movement speed of the corresponding movable component in the operation mode according to the operation mode;

and obtaining the movement speed of the operating table corresponding to the value of the pressing degree from the corresponding relation between the pressing degree and the movement speed of the corresponding movable component.

8. The method according to claim 7, wherein the obtaining, by the manipulator, the moving speed of the corresponding movable component corresponding to the value of the current pressing force degree from the corresponding relationship between the preset pressing force degree and the moving speed of the corresponding movable component specifically includes:

the controller identifies a current value set in which the value of the current pressing degree falls;

the controller searches the corresponding movable component movement speed corresponding to the current value set from the corresponding relation between the preset value set and the corresponding movable component movement speed; different value sets correspond to different movement speeds.

9. The method of claim 7, wherein the first input comprises a user input over a first time period; the pressing force of the first input comprises a plurality of values, and the plurality of values represent that the pressing force of the user input is detected by the controller at a plurality of moments in the first time period respectively;

the manipulator determines the movement speed of the corresponding movable part for executing the movement of the specific operation table movement type according to the values of the pressure degree at each moment in the first time period;

the controller controls the corresponding movable component to execute the action corresponding to the specific operation table motion type according to the determined motion speed of the corresponding movable component, and the method specifically includes:

10. An operating bed control device, comprising:

the input device comprises a first function key, and the input device is used for responding to a first input acting on the first function key and acquiring the pressing pressure degree acting on the first function key;

the processor is used for determining the movement speed of the operating table controlled by the control device according to the value of the pressing degree; and

a communication interface, configured to send the determined movement speed of the operating table to the operating table, so that the operating table performs an action of a specific operating table movement type according to the determined movement speed of the operating table;

wherein the first function key comprises a pressure sensor and a motion type sensor; the control device responds to a first input acting on the first function key, and the pressing force degree and the specific operation table motion type are acquired in parallel through the pressing force degree sensor and the motion type sensor;

the processor detects a first input of a user and a second input of the user, wherein the second input is used for determining an operation mode associated with the first input; under different operation modes, the corresponding relation between the pressure degree and the movement speed is different, so that the control of different sensitivities of the operation bed is realized;

the processor is further used for determining the corresponding relation between the pressing force degree and the movement speed of the corresponding movable component in the operation mode according to the operation mode; and obtaining the movement speed of the operating table corresponding to the value of the pressure degree from the corresponding relation between the pressure degree and the movement speed of the corresponding movable component.

11. The apparatus of claim 10, wherein the processor determines that the operating table performs the action at a first movement speed when the pressing force is a first value, and determines that the operating table performs the action at a second movement speed when the pressing force is a second value.

12. The device according to claim 10 or 11, wherein the operating bed control device is a hand controller, the hand controller further comprises a display screen for outputting a value for controlling the movement speed of the operating bed to perform the action; and/or the display screen is used for outputting the change trend of the movement speed of the action executed by the operating table.