CN110934712A - Multifunctional gynecological examination chair control system and method - Google Patents

Multifunctional gynecological examination chair control system and method Download PDF

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CN110934712A
CN110934712A CN201911166652.1A CN201911166652A CN110934712A CN 110934712 A CN110934712 A CN 110934712A CN 201911166652 A CN201911166652 A CN 201911166652A CN 110934712 A CN110934712 A CN 110934712A
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module
virtual
data
medical data
operation body
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陈艾东
叶超
薛进华
张瑞
刘实
孙鸣
陈蕾
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Nanjing University
Nanjing Medical University
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G15/00—Operating chairs; Dental chairs; Accessories specially adapted therefor, e.g. work stands
    • A61G15/02—Chairs with means to adjust position of patient; Controls therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G15/00—Operating chairs; Dental chairs; Accessories specially adapted therefor, e.g. work stands
    • A61G15/10—Parts, details or accessories
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2200/00—Information related to the kind of patient or his position
    • A61G2200/10—Type of patient
    • A61G2200/12—Women
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering

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  • Life Sciences & Earth Sciences (AREA)
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Abstract

The invention belongs to the technical field of gynecological examination chairs, and discloses a multifunctional gynecological examination chair control system and a method, wherein the multifunctional gynecological examination chair control system comprises: the medical device comprises a physiological data acquisition module, a main control module, a medical data query module, a massage module, a lifting module, a warming module, a simulation module and a display module. The gynecological medical data of the patient can be inquired in real time through the medical data inquiry module; when medical data is inquired, only the medical data is inquired on the medical data platform, and compared with the existing scheme that the medical data is inquired in a hospital system of each hospital, the efficiency of inquiring the medical data can be improved to a certain extent; meanwhile, the synchronization of real training and virtual simulation training during gynecological instrument examination, double-diagnosis and triple-diagnosis examination can be realized through the simulation module, so that teachers and students can observe the technique and evaluation of the simulation training conveniently, and the simulation examination training of the uterus can be performed.

Description

Multifunctional gynecological examination chair control system and method
Technical Field
The invention belongs to the technical field of gynecological examination chairs, and particularly relates to a multifunctional gynecological examination chair control system.
Background
The gynecological routine examination comprises: gynecological double-diagnosis examination, electronic colposcopy, gynecological ultrasonic examination, vaginal type-B ultrasonic examination and the like. All women who have a sexual experience should perform gynecological examination every year, and the gynecological routine examination should be performed at a proper time in the menstrual cycle, generally within 3-7 days after the end of menstruation. The content of the examination includes: vulvar examination, vaginal examination, cervical examination, uterine and adnexal examination. The cervical cancer can be found in time by the pathological examination of the cervical smear. The gynecological B-ultrasonic examination can timely examine uterine tumor, pelvic inflammation or abscess and the like. The doctor can select the physical examination items according to the health condition of the patient. However, the existing gynecological examination chair cannot query the medical data of the patient; meanwhile, the gynecological examination cannot be simulated, which is not beneficial to the usual medical training.
In summary, the problems of the prior art are as follows: the existing gynecological examination chair cannot inquire the medical data of a patient; meanwhile, the gynecological examination cannot be simulated, which is not beneficial to the usual medical training.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a control system and a control method of a multifunctional gynecological examination chair.
The invention is realized in such a way that a control method of a multifunctional gynecological examination chair comprises the following steps: firstly, physiological data of a patient is acquired by a physiological data acquisition module through medical equipment; secondly, the main control module inquires the medical data of the patient by using an inquiry program through a medical data inquiry module; the massage module is used for massaging the patient by using the massager; the gynecological examination chair is lifted by the lifter through the lifting module; the patient is kept warm by the warm-keeping module through the warm-keeping device; then, simulating the gynecological examination of the patient by using a simulation program through a simulation module; finally, the display module is used for displaying the acquired physiological data of the patient and inquiring the medical data;
the physiological data acquisition module device and the data acquisition method are as follows:
(1) the computer acquires the sample information of the human body acquired by the identity sampling device;
(2) matching the sample information with a plurality of pre-stored sample information;
(3) if the matching fails, the computer creates a new folder, and the new folder contains identification information of the sample information which fails to be matched;
(4) acquiring physiological characteristic data of a human body acquired by the sensor, wherein the physiological characteristic data is stored in the new folder containing the identification information of the sample information with failed matching;
(5) if the matching is successful, acquiring physiological characteristic data of the human body collected by the sensor;
(6) storing the acquired physiological characteristic data in a folder containing identification information of the successfully matched sample information;
(7) comparing the physiological characteristic data stored in the folder with a preset physiological characteristic range value;
(8) and if the physiological characteristic data stored in the folder is not within the preset physiological characteristic range value, sending an alarm instruction to the alarm.
Further, the medical data query method of the control method of the multifunctional gynecological examination chair is as follows:
1) the method comprises the steps of building a medical data platform, wherein the medical data platform receives a data query request sent by a client of at least one department, and the data query request carries a medical data identifier;
2) the medical data platform carries out data query in a preset medical data information base according to the medical data identification carried in the data query request sent by the client of the at least one department to obtain target medical data of each department in the at least one department;
3) the data platform sends the target medical data of each department in the at least one department to the client side of each department in the corresponding client side of the at least one department.
Further, the preset medical data information base of the control method of the multifunctional gynecological examination chair comprises a medical knowledge map, the medical data platform performs data query in the preset medical data information base according to the medical data identifier carried in the data query request sent by the client of the at least one department to obtain the target medical data of each department in the at least one department, and the method comprises the following steps:
the medical data platform analyzes medical data identification carried in a data query request sent by a client of the at least one department to obtain data type identification of medical data of each department in the at least one department; and the medical data platform queries and obtains target medical data of each department in the at least one department in a medical knowledge graph according to the data type identification of the medical data of each department in the at least one department.
Further, the control method of the multifunctional gynecological examination chair for warming the patient by using the warmer comprises the following steps:
(1) the control unit is in communication connection with the main control module through RS232 to realize mutual communication, and is used for receiving and processing control instructions sent by the main control module and feeding the processed control instructions back to the main control system and the driving unit respectively;
(2) the driving unit drives the heating tube to heat according to the control instruction, the radiation heat-preservation module is communicated with the main control module, and the radiation heat-preservation module sends running state information to the main control system and receives control information sent by the main control system;
(3) the control unit controls the driving unit to drive the heating tube to heat.
Further, the method for simulating the gynecological examination of the patient by using the simulation program of the control method of the multifunctional gynecological examination chair is as follows:
(1) respectively establishing a collision body of a virtual operation body, a collision body of a virtual operation body motion space, a collision body of a virtual uterus and a collision body of a virtual uterus motion limiting space through a simulation program; the virtual operation body motion space is a space which surrounds a virtual uterus and exposes a virtual cervix; the virtual uterine movement limiting space is at least a space surrounding the movement space of the virtual operation body; the virtual uterine movement restriction space is at most the space of a virtual pelvic cavity;
(2) tracking the space position and the space posture of a real operation body by adopting an electromagnetic tracking system, converting the space position and the space posture into the space position P and the space posture Q of a virtual operation body in real time, simultaneously enabling the virtual operation body to synchronously move with the real operation body in a 3D virtual scene, and keeping the initial position and the posture of a virtual uterus;
(3) adopting a physical engine to perform collision detection on a collision body of the virtual operation body and a collision body of the virtual operation body motion space;
(4) judging whether the virtual operation body collides and enters a virtual operation body motion space, if so, entering the step (5); otherwise, returning to the step (2), keeping the initial position and the posture of the virtual uterus, and synchronously moving the virtual operation body along with the movement of the real operation body;
(5) performing collision detection of a collider of the virtual operation body and a collider of the virtual uterus;
(6) judging whether the virtual operation body is in collision contact with the virtual uterus or not, if so, entering the step (7), and otherwise, returning to the step (5);
(7) the rendering engine carries out data processing on the spatial position O 'and the spatial attitude Q' of the virtual uterus according to the real-time spatial position P and the spatial attitude Q of the virtual operation body and drives the virtual uterus to synchronously move with the virtual operation body according to the real-time data processing result;
(8) judging whether the collision body of the virtual uterus collides and contacts with the collision body of the virtual uterus movement limiting space, if so, the virtual uterus is in the previous unlimited position and posture; otherwise, keeping the motion track of the step (7);
(9) judging whether the virtual operation body is separated from the motion space of the virtual operation body, if so, entering the step (2), and recovering the initial position and the posture of the virtual uterus; otherwise, keeping the motion track of the step (7).
Further, the motion trajectory rendering method specifically includes:
(1) establishing a world coordinate system xyz, wherein the origin of coordinates is O; establishing a local coordinate system x 'y' z 'of a virtual uterus, wherein the origin of coordinates is O';
(2) the space position of the virtual operation body is P at the initial moment of collision contact between the virtual operation body and the virtual uterus0In a spatial attitude of Q0Conversion to a spatial position P in the local coordinate system x 'y' z0’＝Q0 -1P0In a spatial attitude of Q0 -1The position offset of the O 'point from the virtual operation body in the local coordinate system x' y 'z' is-P0', transformed into the world coordinate system xyz as-QP0’；
(3) After the virtual operation body is in collision contact with the virtual uterus, the real-time spatial position of the virtual operation body is P, the spatial posture of the virtual operation body is Q, and the spatial position of the O 'point in the world coordinate system xyz is O' ═ P-QP0’＝P-QQ0 -1P0Space attitude Q ═ QQ0 -1And the rendering engine drives the virtual uterus to synchronously move along with the movement of the virtual operation body according to the spatial position O 'and the spatial posture Q'.
Another object of the present invention is to provide a multifunctional gynecological examination chair control system implementing the multifunctional gynecological examination chair control method, the multifunctional gynecological examination chair control system comprising:
the main control module is connected with the physiological data acquisition module, the medical data query module, the massage module, the lifting module, the warming module, the simulation module and the display module and is used for controlling the normal work of each module through a host; the physiological data acquisition module is connected with the main control module and is used for acquiring physiological data of the patient through the medical equipment;
the medical data query module is connected with the main control module and used for querying the medical data of the patient through a query program;
the massage module is connected with the main control module and is used for massaging a patient through the massager;
the lifting module is connected with the main control module and is used for lifting the gynecological examination chair through the lifter;
the warming module is connected with the main control module and is used for warming the patient through the warmer;
the simulation module is connected with the main control module and is used for simulating the gynecological examination of the patient through a simulation program;
and the display module is connected with the main control module and used for displaying the acquired physiological data of the patient and inquiring the medical data through the display.
Further, the physiological data acquisition module comprises:
the acquisition module is used for acquiring the human body sample information acquired by the identity sampling device and acquiring the human body sample information acquired by the sensor if the matching module is successfully matched;
the matching module is used for matching the sample information with a plurality of pre-stored sample information;
the storage module is used for storing the acquired physiological characteristic data in a folder containing the identification information of the successfully matched sample information;
the comparison module is used for comparing the physiological characteristic data stored in the folder with a preset physiological characteristic range value;
and the judging module is used for sending an alarm instruction to the alarm if the physiological characteristic data stored in the folder is not within the preset physiological characteristic range value.
The invention also aims to provide an information data processing terminal for realizing the control method of the multifunctional gynecological examination chair.
Another object of the present invention is to provide a computer-readable storage medium comprising instructions which, when run on a computer, cause the computer to perform the multifunctional gynecologic examination chair control method.
The invention has the advantages and positive effects that: the gynecological medical data of the patient can be inquired in real time through the medical data inquiry module; when medical data is inquired, only the medical data is inquired on the medical data platform, and compared with the existing scheme that the medical data is inquired in a hospital system of each hospital, the efficiency of inquiring the medical data can be improved to a certain extent; meanwhile, the synchronization of real training and virtual simulation training during gynecological instrument examination, double-diagnosis and triple-diagnosis examination can be realized through the simulation module, so that teachers and students can observe the technique and evaluation of the simulation training conveniently, and the simulation examination training of the uterus can be performed; meanwhile, by adopting the method of the invention, the uterus can synchronously move along with the operation of the virtual operation body without installing a pose sensor, thereby saving the cost.
Drawings
FIG. 1 is a block diagram of a control system of a multifunctional gynecological examination chair according to an embodiment of the present invention;
FIG. 2 is a flowchart of a physiological data acquisition method of a physiological data acquisition module according to an embodiment of the present invention;
fig. 3 is a flowchart of a warm-keeping method of the warm-keeping module according to the embodiment of the present invention;
in the figure: 1. a physiological data acquisition module; 2. a main control module; 3. a medical data query module; 4. a massage module; 5. a lifting module; 6. a warming module; 7. a simulation module; 8. and a display module.
Detailed Description
In order to further understand the contents, features and effects of the present invention, the following embodiments are illustrated and described in detail with reference to the accompanying drawings.
The structure of the present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1, the multifunctional gynecological examination chair control system provided by the embodiment of the invention comprises: the medical health care device comprises a physiological data acquisition module 1, a main control module 2, a medical data query module 3, a massage module 4, a lifting module 5, a warm-keeping module 6, a simulation module 7 and a display module 8.
The physiological data acquisition module 1 is connected with the main control module 2 and is used for acquiring physiological data of a patient through medical equipment;
the main control module 2 is connected with the physiological data acquisition module 1, the medical data query module 3, the massage module 4, the lifting module 5, the warming module 6, the simulation module 7 and the display module 8 and is used for controlling the normal work of each module through a host;
the medical data query module 3 is connected with the main control module 2 and is used for querying the medical data of the patient through a query program;
the massage module 4 is connected with the main control module 2 and is used for massaging a patient through a massager;
the lifting module 5 is connected with the main control module 2 and is used for lifting the gynecological examination chair through the lifter;
the warm keeping module 6 is connected with the main control module 2 and is used for carrying out warm keeping operation on the patient through the warmer;
the simulation module 7 is connected with the main control module 2 and is used for simulating the gynecological examination of the patient through a simulation program;
and the display module 8 is connected with the main control module 2 and used for displaying the acquired physiological data of the patient and inquiring the medical data through the display.
The invention provides a physiological data acquisition module 1 device and a data acquisition method, wherein the physiological data acquisition module comprises the following steps:
(1) the physiological data acquisition module 1 comprises a computer, an alarm, a sensor and an identity sampling device, wherein the identity sampling device comprises an acquisition module, a matching module, a storage module, a comparison module, a judgment module and an alarm module;
the acquisition module is used for acquiring the human body sample information acquired by the identity sampling device and acquiring the human body sample information acquired by the sensor if the matching module is successfully matched;
the matching module is used for matching the sample information with a plurality of pre-stored sample information;
the storage module is used for storing the acquired physiological characteristic data in a folder containing the identification information of the successfully matched sample information;
the comparison module is used for comparing the physiological characteristic data stored in the folder with a preset physiological characteristic range value;
the judgment module is used for sending an alarm instruction to the alarm if the physiological characteristic data stored in the folder is not within the preset physiological characteristic range value;
(2) the data acquisition method of the physiological data acquisition module 1 is as follows:
s101: the computer acquires the sample information of the human body acquired by the identity sampling device;
s102: matching the sample information with a plurality of pre-stored sample information;
s103: if the matching fails, the computer creates a new folder, and the new folder contains identification information of the sample information which fails to be matched;
s104: acquiring physiological characteristic data of a human body acquired by the sensor, wherein the physiological characteristic data is stored in the new folder containing the identification information of the sample information with failed matching;
s105: if the matching is successful, acquiring physiological characteristic data of the human body collected by the sensor;
s106: storing the acquired physiological characteristic data in a folder containing identification information of the successfully matched sample information;
s107: comparing the physiological characteristic data stored in the folder with a preset physiological characteristic range value;
s108: and if the physiological characteristic data stored in the folder is not within the preset physiological characteristic range value, sending an alarm instruction to the alarm.
The medical data query module 3 provided by the invention has the following query method:
1) the method comprises the steps of building a medical data platform, wherein the medical data platform receives a data query request sent by a client of at least one department, and the data query request carries a medical data identifier;
2) the medical data platform carries out data query in a preset medical data information base according to the medical data identification carried in the data query request sent by the client of the at least one department to obtain target medical data of each department in the at least one department;
3) the data platform sends the target medical data of each department in the at least one department to the client side of each department in the corresponding client side of the at least one department.
The preset medical data information base provided by the invention comprises a medical knowledge map, the medical data platform carries out data query in the preset medical data information base according to the medical data identification carried in the data query request sent by the client of at least one department to obtain the target medical data of each department in the at least one department, and the method comprises the following steps:
the medical data platform analyzes medical data identification carried in a data query request sent by a client of the at least one department to obtain data type identification of medical data of each department in the at least one department; and the medical data platform queries and obtains target medical data of each department in the at least one department in a medical knowledge graph according to the data type identification of the medical data of each department in the at least one department.
The medical data platform provided by the invention queries and obtains target medical data of each department in at least one department in a medical knowledge graph according to the data type identification of the medical data of each department in at least one department, and comprises the following steps:
the data platform obtains a hash value of the data type identifier by performing hash transformation on the data type identifier of the medical data of each department in the at least one department;
the data platform searches a data node identifier corresponding to a hash value of the data type identifier of the medical data of each department in the at least one department in the medical knowledge graph;
and the data platform extracts the target medical data of each department from the memory corresponding to the data node identifier corresponding to the hash value of the data type identifier of the medical data of each department.
The medical data platform provided by the invention carries out data query in a preset medical data information base according to the medical data identification carried in the data query request sent by the client of at least one department to obtain the target medical data of each department in the at least one department, and the method comprises the following steps:
the medical data platform determines a medical data query template corresponding to each department in the at least one department from a mapping relation between a preset medical data identifier and a medical data query template according to a medical data identifier carried in a data query request sent by a client of the at least one department;
and the medical data platform queries in a preset medical data information base by adopting a medical data query template corresponding to each department in the at least one department to obtain target medical data of each department in the at least one department.
The medical data platform provided by the invention queries in a preset medical data information base by adopting a medical data query template corresponding to each department in at least one department to obtain target medical data of each department in at least one department, and comprises the following steps:
the medical data platform performs data query in a preset medical data information base by adopting a medical data query template corresponding to each department in the at least one department to obtain reference medical data of each department in the at least one department, wherein the reference medical data comprises a plurality of sub-reference medical data;
the data platform analyzes a plurality of sub-reference medical data of each department in the at least one department to obtain the data quality of each sub-reference medical data in the plurality of sub-reference medical data;
and the data platform determines sub-reference medical data with data quality higher than preset data quality in the plurality of sub-reference medical data of each department in the at least one department as target medical data.
The invention provides a warm-keeping device and a method for a warm-keeping module 6, which comprises the following steps:
(1) the warm-keeping module 6 device comprises a heating tube, a control unit and a driving unit.
(2) The warm keeping method of the warm keeping module 6 is as follows:
s201: the control unit is in communication connection with the main control module 2 through RS232 and can realize mutual communication, and is used for receiving and processing control instructions sent by the main control module and feeding the processed control instructions back to the main control system and the driving unit respectively;
s202: the driving unit drives the heating tube to heat according to the control instruction. The radiation heat-preservation module 6 is communicated with the main control module 2, and the radiation heat-preservation module 6 sends running state information to the main control system and receives control information sent by the main control system;
s203: the control unit controls the driving unit to drive the heating tube to heat.
The simulation method of the simulation module 7 provided by the invention is as follows:
(1) respectively establishing a collision body of a virtual operation body, a collision body of a virtual operation body motion space, a collision body of a virtual uterus and a collision body of a virtual uterus motion limiting space through a simulation program; the virtual operation body motion space is a space which surrounds a virtual uterus and exposes a virtual cervix; the virtual uterine movement limiting space is at least a space surrounding the movement space of the virtual operation body; the virtual uterine movement restriction space is at most the space of a virtual pelvic cavity;
(2) tracking the space position and the space posture of a real operation body by adopting an electromagnetic tracking system, converting the space position and the space posture into the space position P and the space posture Q of a virtual operation body in real time, simultaneously enabling the virtual operation body to synchronously move with the real operation body in a 3D virtual scene, and keeping the initial position and the posture of a virtual uterus;
(3) adopting a physical engine to perform collision detection on a collision body of the virtual operation body and a collision body of the virtual operation body motion space;
(4) judging whether the virtual operation body collides and enters a virtual operation body motion space, if so, entering the step (5); otherwise, returning to the step (2), keeping the initial position and the posture of the virtual uterus, and synchronously moving the virtual operation body along with the movement of the real operation body;
(5) performing collision detection of a collider of the virtual operation body and a collider of the virtual uterus;
(6) judging whether the virtual operation body is in collision contact with the virtual uterus or not, if so, entering the step (7), and otherwise, returning to the step (5);
(7) the rendering engine processes data of the virtual uterus spatial position O 'and the spatial attitude Q' according to the real-time spatial position P and the spatial attitude Q of the virtual operation body, and drives the virtual uterus to synchronously move with the virtual operation body according to the real-time data processing result, and the specific motion trail rendering method comprises the following steps:
a. establishing a world coordinate system xyz, wherein the origin of coordinates is O; establishing a local coordinate system x 'y' z 'of a virtual uterus, wherein the origin of coordinates is O';
b. the space position of the virtual operation body is P at the initial moment of collision contact between the virtual operation body and the virtual uterus0In a spatial attitude of Q0Conversion to a spatial position P in the local coordinate system x 'y' z0’＝Q0 -1P0In a spatial attitude of Q0 -1The position offset of the O 'point from the virtual operation body in the local coordinate system x' y 'z' is-P0', transformed into the world coordinate system xyz as-QP0’；
c. After the virtual operation body is in collision contact with the virtual uterus, the real-time spatial position of the virtual operation body is P, the spatial posture of the virtual operation body is Q, and the spatial position of the O 'point (namely the virtual uterus) in the world coordinate system xyz is O' ═ P-QP0’＝P-QQ0 -1P0Space attitude Q ═ QQ0 -1The rendering engine drives the virtual uterus according to the spatial position O 'and the spatial attitude Q' to be the same with the movement of the virtual operation bodyStep movement;
(8) judging whether the collision body of the virtual uterus collides and contacts with the collision body of the virtual uterus movement limiting space, if so, the virtual uterus is in the previous unlimited position and posture; otherwise, keeping the motion track of the step (7);
(9) judging whether the virtual operation body is separated from the motion space of the virtual operation body, if so, entering the step (2), and recovering the initial position and the posture of the virtual uterus; otherwise, keeping the motion track of the step (7).
When the medical device works, firstly, physiological data of a patient are collected by a physiological data collecting module 1 through medical equipment; secondly, the main control module 2 queries the medical data of the patient by using a query program through the medical data query module 3; the massage module 4 is used for massaging the patient by using the massager; the gynecological examination chair is lifted by the lifter through the lifting module 5; the patient is kept warm by the warming module 6 through the warming device; then, the simulation module 7 simulates the gynecological examination of the patient by using a simulation program; finally, the display module 8 is used for displaying the acquired physiological data of the patient and inquiring the medical data.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications, equivalent changes and modifications made to the above embodiment according to the technical spirit of the present invention are within the scope of the technical solution of the present invention.

Claims (10)

1. A control method of a multifunctional gynecological examination chair is characterized by comprising the following steps: firstly, physiological data of a patient is acquired by a physiological data acquisition module through medical equipment; secondly, the main control module inquires the medical data of the patient by using an inquiry program through a medical data inquiry module; the massage module is used for massaging the patient by using the massager; the gynecological examination chair is lifted by the lifter through the lifting module; the patient is kept warm by the warm-keeping module through the warm-keeping device; then, simulating the gynecological examination of the patient by using a simulation program through a simulation module; finally, the display module is used for displaying the acquired physiological data of the patient and inquiring the medical data;
the physiological data acquisition module device and the data acquisition method are as follows:
(1) the computer acquires the sample information of the human body acquired by the identity sampling device;
(2) matching the sample information with a plurality of pre-stored sample information;
(3) if the matching fails, the computer creates a new folder, and the new folder contains identification information of the sample information which fails to be matched;
(4) acquiring physiological characteristic data of a human body acquired by the sensor, wherein the physiological characteristic data is stored in the new folder containing the identification information of the sample information with failed matching;
(5) if the matching is successful, acquiring physiological characteristic data of the human body collected by the sensor;
(6) storing the acquired physiological characteristic data in a folder containing identification information of the successfully matched sample information;
(7) comparing the physiological characteristic data stored in the folder with a preset physiological characteristic range value;
(8) and if the physiological characteristic data stored in the folder is not within the preset physiological characteristic range value, sending an alarm instruction to the alarm.
2. The multifunctional gynecological examination chair control method of claim 1, wherein the medical data query method of the multifunctional gynecological examination chair control method is as follows:
1) the method comprises the steps of building a medical data platform, wherein the medical data platform receives a data query request sent by a client of at least one department, and the data query request carries a medical data identifier;
2) the medical data platform carries out data query in a preset medical data information base according to the medical data identification carried in the data query request sent by the client of the at least one department to obtain target medical data of each department in the at least one department;
3) the data platform sends the target medical data of each department in the at least one department to the client side of each department in the corresponding client side of the at least one department.
3. The multifunctional gynecological examination chair control method according to claim 2, wherein the preset medical data information base of the multifunctional gynecological examination chair control method comprises a medical knowledge map, and the medical data platform performs data query in the preset medical data information base according to the medical data identifier carried in the data query request sent by the client of the at least one department to obtain the target medical data of each department in the at least one department, and comprises:
the medical data platform analyzes medical data identification carried in a data query request sent by a client of the at least one department to obtain data type identification of medical data of each department in the at least one department; and the medical data platform queries and obtains target medical data of each department in the at least one department in a medical knowledge graph according to the data type identification of the medical data of each department in the at least one department.
4. The multifunctional gynecological examination chair control method of claim 1, wherein the patient is kept warm by a warmer as follows:
(1) the control unit is in communication connection with the main control module through RS232 to realize mutual communication, and is used for receiving and processing control instructions sent by the main control module and feeding the processed control instructions back to the main control system and the driving unit respectively;
(2) the driving unit drives the heating tube to heat according to the control instruction, the radiation heat-preservation module is communicated with the main control module, and the radiation heat-preservation module sends running state information to the main control system and receives control information sent by the main control system;
(3) the control unit controls the driving unit to drive the heating tube to heat.
5. The multifunctional gynecological examination chair control method of claim 1, wherein the simulation program for the patient gynecological examination is as follows:
(1) respectively establishing a collision body of a virtual operation body, a collision body of a virtual operation body motion space, a collision body of a virtual uterus and a collision body of a virtual uterus motion limiting space through a simulation program; the virtual operation body motion space is a space which surrounds a virtual uterus and exposes a virtual cervix; the virtual uterine movement limiting space is at least a space surrounding the movement space of the virtual operation body; the virtual uterine movement restriction space is at most the space of a virtual pelvic cavity;
(2) tracking the space position and the space posture of a real operation body by adopting an electromagnetic tracking system, converting the space position and the space posture into the space position P and the space posture Q of a virtual operation body in real time, simultaneously enabling the virtual operation body to synchronously move with the real operation body in a 3D virtual scene, and keeping the initial position and the posture of a virtual uterus;
(3) adopting a physical engine to perform collision detection on a collision body of the virtual operation body and a collision body of the virtual operation body motion space;
(4) judging whether the virtual operation body collides and enters a virtual operation body motion space, if so, entering the step (5); otherwise, returning to the step (2), keeping the initial position and the posture of the virtual uterus, and synchronously moving the virtual operation body along with the movement of the real operation body;
(5) performing collision detection of a collider of the virtual operation body and a collider of the virtual uterus;
(6) judging whether the virtual operation body is in collision contact with the virtual uterus or not, if so, entering the step (7), and otherwise, returning to the step (5);
(7) the rendering engine carries out data processing on the spatial position O 'and the spatial attitude Q' of the virtual uterus according to the real-time spatial position P and the spatial attitude Q of the virtual operation body and drives the virtual uterus to synchronously move with the virtual operation body according to the real-time data processing result;
(8) judging whether the collision body of the virtual uterus collides and contacts with the collision body of the virtual uterus movement limiting space, if so, the virtual uterus is in the previous unlimited position and posture; otherwise, keeping the motion track of the step (7);
(9) judging whether the virtual operation body is separated from the motion space of the virtual operation body, if so, entering the step (2), and recovering the initial position and the posture of the virtual uterus; otherwise, keeping the motion track of the step (7).
6. The control method of the multifunctional gynecological examination chair according to claim 5, wherein the motion trajectory rendering method specifically comprises:
(1) establishing a world coordinate system xyz, wherein the origin of coordinates is O; establishing a local coordinate system x 'y' z 'of a virtual uterus, wherein the origin of coordinates is O';
(2) the space position of the virtual operation body is P at the initial moment of collision contact between the virtual operation body and the virtual uterus0In a spatial attitude of Q0Conversion to a spatial position P in the local coordinate system x 'y' z0’＝Q0 -1P0In a spatial attitude of Q0 -1The position offset of the O 'point from the virtual operation body in the local coordinate system x' y 'z' is-P0', transformed into the world coordinate system xyz as-QP0’；
(3) After the virtual operation body is in collision contact with the virtual uterus, the real-time spatial position of the virtual operation body is P, the spatial posture of the virtual operation body is Q, and the spatial position of the O 'point in the world coordinate system xyz is O' ═ P-QP0’＝P-QQ0 -1P0Space attitude Q ═ QQ0 -1And the rendering engine drives the virtual uterus to synchronously move along with the movement of the virtual operation body according to the spatial position O 'and the spatial posture Q'.
7. A multifunctional gynecological examination chair control system for implementing the control method of the multifunctional gynecological examination chair according to any one of claims 1 to 6, characterized in that the multifunctional gynecological examination chair control system comprises:
the main control module is connected with the physiological data acquisition module, the medical data query module, the massage module, the lifting module, the warming module, the simulation module and the display module and is used for controlling the normal work of each module through a host; the physiological data acquisition module is connected with the main control module and is used for acquiring physiological data of the patient through the medical equipment;
the medical data query module is connected with the main control module and used for querying the medical data of the patient through a query program;
the massage module is connected with the main control module and is used for massaging a patient through the massager;
the lifting module is connected with the main control module and is used for lifting the gynecological examination chair through the lifter;
the warming module is connected with the main control module and is used for warming the patient through the warmer;
the simulation module is connected with the main control module and is used for simulating the gynecological examination of the patient through a simulation program;
and the display module is connected with the main control module and used for displaying the acquired physiological data of the patient and inquiring the medical data through the display.
8. The multifunctional gynecological examination chair control system of claim 7, wherein the physiological data acquisition module comprises:
the acquisition module is used for acquiring the human body sample information acquired by the identity sampling device and acquiring the human body sample information acquired by the sensor if the matching module is successfully matched;
the matching module is used for matching the sample information with a plurality of pre-stored sample information;
the storage module is used for storing the acquired physiological characteristic data in a folder containing the identification information of the successfully matched sample information;
the comparison module is used for comparing the physiological characteristic data stored in the folder with a preset physiological characteristic range value;
and the judging module is used for sending an alarm instruction to the alarm if the physiological characteristic data stored in the folder is not within the preset physiological characteristic range value.
9. An information data processing terminal for implementing the control method of the multifunctional gynecological examination chair according to any one of claims 1 to 6.
10. A computer-readable storage medium comprising instructions which, when run on a computer, cause the computer to perform the multifunctional gynecologic examination chair control method of any one of claims 1 to 6.
CN201911166652.1A 2019-11-25 2019-11-25 Multifunctional gynecological examination chair control system and method Pending CN110934712A (en)

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