CN110830746A - Remote operation assisting system based on video call and augmented reality technology - Google Patents
Remote operation assisting system based on video call and augmented reality technology Download PDFInfo
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- CN110830746A CN110830746A CN201911118592.6A CN201911118592A CN110830746A CN 110830746 A CN110830746 A CN 110830746A CN 201911118592 A CN201911118592 A CN 201911118592A CN 110830746 A CN110830746 A CN 110830746A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/14—Systems for two-way working
- H04N7/141—Systems for two-way working between two video terminals, e.g. videophone
- H04N7/147—Communication arrangements, e.g. identifying the communication as a video-communication, intermediate storage of the signals
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H30/00—ICT specially adapted for the handling or processing of medical images
- G16H30/20—ICT specially adapted for the handling or processing of medical images for handling medical images, e.g. DICOM, HL7 or PACS
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
- G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
- G16H40/67—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L65/00—Network arrangements, protocols or services for supporting real-time applications in data packet communication
- H04L65/40—Support for services or applications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L65/00—Network arrangements, protocols or services for supporting real-time applications in data packet communication
- H04L65/60—Network streaming of media packets
- H04L65/65—Network streaming protocols, e.g. real-time transport protocol [RTP] or real-time control protocol [RTCP]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/14—Session management
- H04L67/141—Setup of application sessions
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/265—Mixing
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
Abstract
The invention relates to a remote operation assisting system based on a video call and an augmented reality technology, which is characterized in that software consists of a Client (Client) and a Server (Server), wherein the Client comprises a creation user module, a video window module and an operation instruction module; the server comprises a monitoring request module and a video synthesis transmission module; the hardware comprises a surgical robot planning operation system, a camera or an electronic facility containing a camera device, such as a mobile phone, a tablet, a computer and the like. The system combines the video call and the AR technology and is applied to remote operation guidance, and experts can realize remote assistance of 'hands' through the system, thereby improving the operation efficiency and relieving the uneven distribution of medical resources.
Description
Technical Field
The invention relates to a remote operation assisting system based on a video call and an augmented reality technology, in particular to a remote operation assisting system for remotely assisting a doctor to carry out remote operation planning and navigation guidance, and belongs to the field of medical robots.
Background
Medical resources in China are not uniformly distributed, the experience of young doctors is insufficient, and the problem can be solved through a modern intelligent system. In patent 201310036020.X "remote operation planning and navigation system", a remote operation planning and navigation system is proposed, which comprises a medical image post-processing subsystem for post-processing medical images, a multi-mode image fusion subsystem for fusing multi-mode images of patients and performing three-dimensional reconstruction and visualization processing, a medical image management subsystem for storing and managing medical images of patients and establishing personal files of patients, an operation planning subsystem for providing preoperative operation simulation and planning, an operation navigation subsystem for navigating operations, and a remote consultation subsystem for remote cooperation and consultation of an operating doctor and an imaging doctor, however, in the remote mode, a doctor operates the remote control arm to control the mechanical arm to clamp the surgical instrument to complete the surgery, and the problems of language information communication barrier, low signal transmission efficiency, limited surgical visual field and the like exist.
Patent 201810489243.4 remote craniocerebral minimally invasive system for sudden accidents requires special modification of the surgical robot for remote surgical guidance, and has no wide applicability.
With the development of the technology, the Augmented Reality (Augmented Reality) technology can ingeniously fuse virtual information and the real world, and a plurality of technical means such as multimedia, three-dimensional modeling, real-time tracking and registration, intelligent interaction, sensing and the like are widely applied to the real world after virtual information such as characters, images, three-dimensional models, music, videos and the like generated by a computer are simulated, so that the two kinds of information complement each other, and the real world is enhanced.
In the invention, the video call and the AR technology are combined and applied to remote operation guidance, and experts can realize the remote assistance of 'hand holding' through the technology, thereby improving the operation efficiency and relieving the uneven distribution of medical resources; the system only needs to be provided with a camera device, does not need to adjust the structures of the operation bed and the operation robot, and is widely applicable; the remote expert may communicate in real time while the procedure is in progress. Through the system, the medical resource allocation can be optimized, and doctors are assisted in carrying out operation.
Disclosure of Invention
The invention provides a method for assisting remote operation planning and navigation based on a video call and an augmented reality technology. On the basis of video call, the assistor can virtualize the hands or articles of the assistor on the scene picture of the assistor to perform assistance guidance of 'hands and hands'; meanwhile, by means of the drawing function of the mouse, the undefined places in the communication process are circled by the drawing function; meanwhile, the invention also supports the function of uploading the computer screen picture, and solves the problem that only the camera picture can be seen during the real-time video call, but the help object can not be changed into the help object on the computer screen picture.
The following describes the software module architecture diagram and flowchart of the present invention.
Referring to fig. 1, the software of the present invention is composed of a Client (Client) and a Server (Server), wherein the Client comprises a creation user module, a video window module and an operation instruction module; the server comprises a monitoring request module and a video synthesis transmission module; the hardware comprises a surgical robot planning operation system, a camera or an electronic facility containing a camera device, such as a mobile phone, a tablet, a computer and the like.
Further, the function of the client-side creation user module is to create a new user in the server, maintain communication with the server and wait for connection of different clients; the video window module can display the AR video image synthesized by the client; the operation instruction module has the functions of connecting users, capturing pictures, drawing lines on a mouse, changing the style of the mouse, switching video sources and cancelling the users; the server monitoring request module is used for monitoring a request signal sent by a client and establishing connection; the video synthesis transmission module synthesizes local video images sent to the server by the client after receiving connection requests sent by two or more different clients, and then respectively transmits the synthesized images to the clients.
Server information transmission flow:
the first step, initializing the server, and correctly inputting the local IP address and the domain name bound by the IP address (if no skippable domain name exists);
secondly, the server starts to monitor a connection request and waits for a request signal sent by the client; if the connection with the client is successful, the server starts the local RTSP service and receives the RTSP stream;
thirdly, when the client is connected, the video synthesis transmission module captures frames in the video stream, analyzes images of the assistor, synthesizes the original images and the images of the assistor, and transmits the synthesized images to the requested client; if the error report is sent to the requester in failure, the RTSP service is closed, and the thread is closed;
step four, in the process of establishing connection at the client, judging whether the connection is normal or not at any moment, and if the RTSP service is disconnected, closing the thread; if not, continuing to complete video synthesis transmission according to the original steps;
step five, judging whether the program is closed or not, and ending the program when the program is closed; if not, the system continues to listen for connection requests.
Client information transmission flow:
step one, opening a client and registering a user name;
secondly, correctly inputting the IP address and the domain name of the server (if the IP address and the domain name can not be empty) to connect the server, starting a local RTSP service, transmitting a video stream of a specified source, sending the local RTSP address and the IP address of the helper to the server, and waiting for the server to establish pairing;
thirdly, receiving and playing the RTSP flow returned by the server when the pairing is established, closing the local RTSP service when the RTSP flow is overtime, and operating again according to the flow;
fourthly, judging whether the connection between the clients is disconnected or not in the playing process, and if not, continuing playing; if the connection is disconnected, the RTSP service is closed;
fifthly, in the video connection process, an operator selects operation contents according to requirements, such as capturing pictures, pausing playing, obtaining a current video image, selecting a position of a file folder for storing the pictures, clicking to continue playing, restoring the video picture to be normal and the like;
and sixthly, logging off the user, disconnecting the user from another client, and logging off the registration information of the user in the server.
Further, the mouse line drawing function comprises switching finger and mouse modes, pressing a left mouse button, marking on the video image, and displaying the corresponding mark on the video image.
The system is matched with a surgical robot for use, an assistor watches an operating room scene and an operation planning interface through a camera, and an instruction is displayed in the operation interface through voice combined with AR, so that remote operation planning and navigation guidance are realized, and the problems that the expression of the assistor is inaccurate, the communication with a help seeker is unclear and the like are solved.
Drawings
FIG. 1 is a software module architecture diagram;
FIG. 2 is a server flow diagram;
FIG. 3 is a client flow diagram;
FIG. 4 creates a user;
FIG. 5 is a connection user;
FIG. 6 is a video image display;
FIG. 7 captures a picture;
FIG. 8 saves the picture;
FIG. 9 switches video sources;
FIG. 10 logging out a user;
FIG. 11 is a mouse trace;
fig. 12 transforms the mouse style.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the embodiments of the present invention are not limited thereto.
Before a surgical operation is performed, a doctor logs in a client of the system, registers a legal user name, starts local RTSP service, transmits a video stream with a specified source (namely, the video stream obtained by a camera adopted during registration), and sends a local RTSP address and an IP address of an assistor to a server. And then waiting for the server to establish pairing, receiving and playing the RTSP stream returned by the server to establish contact with the remote expert client when the pairing is established, closing the local RTSP service when the pairing is overtime, and operating again according to the flow.
The method comprises the following specific operations:
after a client is opened, a user name is input in an adding user module in the first step, then the camera type and the microphone equipment (suitable for a computer with a plurality of cameras and microphone equipment and selecting the equipment needing to be opened) are selected, finally, a user creating button is clicked, the user creating button is waited for the user creating success, and a prompt box is popped up when the user creating succeeds. As shown in fig. 4, the operation steps of the helper client and the helper client are the same.
And next, inputting a user name created by another client in an operation instruction module of any client, clicking a connection user button, popping up a pop-up box prompt when the user name is successfully connected to the other client, clicking an OK button, and displaying the video image in a video display window module. The operation steps are shown in fig. 5 and fig. 6.
And after the client user is correctly connected, the video image is displayed, and a white background is placed below the camera of the helper, so that the helper can assist by fingers/tools.
Picture intercepting and storing operations in the video process: clicking a picture grabbing button, namely clicking a Yes button on a picture shown in figure 7; the picture in the video display window is paused and the picture is saved: as shown in fig. 8, the save path is selected and the picture name is input, and then the save button is clicked and the image is saved down the path.
The client switches video source operation: clicking a switch video source button, as shown in fig. 9, the uploaded image is switched from the video image of the camera to the video image of the computer desktop.
And (3) account logout operation: clicking a logout user button, as shown in fig. 10, clicking a Yes button, disconnecting the connection with another client and logging out the user at the server, successfully logging out and popping up a logout success prompt box, and the video picture is not played any more.
The client mouse draws lines and changes mouse style function operations: clicking a line drawing button of the mouse, only displaying a video image of a help seeker in a video image, pressing a left mouse button to move in a video display window, and leaving a mark line on a trace passed by the mouse as shown in fig. 11. Clicking a button for selecting a mouse style (such as a scalpel), and clicking a button for transforming the mouse style. The mouse style is transformed into a scalpel. Clicking the left mouse button to move in the video window, as shown in fig. 12, the video image has a transformed mouse pattern, and the mouse moving track can be seen in the video. By clicking the hand operation again, the default video screen (the video image obtained by combining the two client video screens) can be seen.
After the doctor and the remote expert are connected through the system, video conversation is carried out, the expert sees the condition of the operating room through the camera, and the most direct suggestion is given according to the on-site condition of the doctor; in the video connection process, the two sides can capture pictures, pause playing and acquire a current video image, select a folder position to store the pictures and the video, click to continue playing the video image, recover the video image to normal and the like, press a left mouse button to mark the video image, and display corresponding marks on the video image; by means of the AR technology, the hands of a remote expert or other indicating tools capture frames in a video stream through a video synthesis transmission module, original images and images of an assistor are synthesized, the synthesized images are transmitted to a client side, and the images are displayed on an operation planning interface of a doctor in real time, so that communication is more visual, information has real-time performance, and guidance is performed before and during an operation.
And judging whether the connection of the two clients is disconnected or not in the playing process, if not, continuing to play, and if so, closing the RTSP service. When the operation or the instruction work is finished, the client is disconnected and the registration information of the user in the server is logged out.
Claims (6)
1. A remote operation assisting system based on video call and augmented reality technology is characterized in that software consists of a Client (Client) and a Server (Server), wherein the Client comprises a creation user module, a video window module and an operation instruction module; the server comprises a monitoring request module and a video synthesis transmission module; the hardware comprises a surgical robot planning operation system, a camera or an electronic facility containing a camera device, such as a mobile phone, a tablet, a computer and the like.
2. The remote operation assisting system based on the video call and the augmented reality technology as claimed in claim 1, wherein the function of the client creation user module is to create a new user at the server and maintain communication with the server to wait for connection of different clients; the video window module can display the AR video image synthesized by the client; the operation instruction module has the functions of connecting users, capturing pictures, drawing lines on a mouse, changing the style of the mouse, switching video sources and cancelling the users; the server monitoring request module is used for monitoring a request signal sent by a client and establishing connection; the video synthesis transmission module synthesizes local video images sent to the server by the client after receiving connection requests sent by two or more different clients, and then respectively transmits the synthesized images to the clients.
3. The remote operation assisting system based on the video call and the augmented reality technology as claimed in claim 1, wherein the server information transmission process comprises:
the first step, initializing the server, and correctly inputting the local IP address and the domain name bound by the IP address (if no skippable domain name exists);
secondly, the server starts to monitor a connection request and waits for a request signal sent by the client; if the connection with the client is successful, the server starts the local RTSP service and receives the RTSP stream;
thirdly, when the client is connected, the video synthesis transmission module captures frames in the video stream, analyzes images of the assistor, synthesizes the original images and the images of the assistor, and transmits the synthesized images to the requested client; if the error report is sent to the requester in failure, the RTSP service is closed, and the thread is closed;
step four, in the process of establishing connection at the client, judging whether the connection is normal or not at any moment, and if the RTSP service is disconnected, closing the thread; if not, continuing to complete video synthesis transmission according to the original steps;
step five, judging whether the program is closed or not, and ending the program when the program is closed; if not, continuing to monitor the connection request;
client information transmission flow:
step one, opening a client and registering a user name;
secondly, correctly inputting the IP address and the domain name of the server (if the IP address and the domain name can not be empty) to connect the server, starting a local RTSP service, transmitting a video stream of a specified source, sending the local RTSP address and the IP address of the helper to the server, and waiting for the server to establish pairing;
thirdly, receiving and playing the RTSP flow returned by the server when the pairing is established, closing the local RTSP service when the RTSP flow is overtime, and operating again according to the flow;
fourthly, judging whether the connection between the clients is disconnected or not in the playing process, and if not, continuing playing; if the connection is disconnected, the RTSP service is closed;
fifthly, in the video connection process, an operator selects operation contents according to requirements, such as capturing pictures, pausing playing, obtaining a current video image, selecting a position of a file folder for storing the pictures, clicking to continue playing, restoring the video picture to be normal and the like;
and sixthly, logging off the user, disconnecting the user from another client, and logging off the registration information of the user in the server.
4. The video-call and augmented reality based tele-surgical assistant system of claim 1, wherein the mouse line drawing function comprises switching between finger and mouse modes, holding a left button of the mouse, and marking a mark on the video image, wherein the video image displays a corresponding mark.
5. The remote operation assisting system based on the video call and the augmented reality technology as claimed in claim 2, wherein the hands or the objects can be virtually guided on the scene of the help seeker.
6. The remote operation assisting system based on the video call and the augmented reality technology as claimed in claim 1, which is used in cooperation with a surgical robot, wherein an assistor views an operating room scene and an operation planning interface through a camera, and displays an instruction guidance suggestion in the operation interface by combining voice with AR, so as to realize remote operation planning and navigation guidance.
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| CN111464787A (en) * | 2020-04-09 | 2020-07-28 | 深圳市谦视智能科技有限责任公司 | Remote assistance method, terminal device and readable storage medium |
| CN111629178A (en) * | 2020-04-28 | 2020-09-04 | 南京新广云信息科技有限公司 | Image auxiliary marking system and method for telemedicine |
| CN113891031A (en) * | 2021-11-11 | 2022-01-04 | 西安医疗指南者信息技术服务有限公司 | Video call method, device and storage medium for medical process |
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