CN111166490A - Medical robot pressure detection method and medical robot - Google Patents

Medical robot pressure detection method and medical robot Download PDF

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CN111166490A
CN111166490A CN202010115345.7A CN202010115345A CN111166490A CN 111166490 A CN111166490 A CN 111166490A CN 202010115345 A CN202010115345 A CN 202010115345A CN 111166490 A CN111166490 A CN 111166490A
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air bag
airbag
pressure
contour
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CN111166490B (en
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不公告发明人
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Affiliated Hospital of University of Qingdao
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Jiang Tongyuan
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    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A—HUMAN NECESSITIES
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
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    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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    • A61B90/06—Measuring instruments not otherwise provided for
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Abstract

The invention discloses a medical robot pressure detection method and a medical robot, wherein the method comprises the following steps: when a shooting instruction is received, controlling a camera to shoot the airbag to obtain an airbag image; obtaining the outline of the air sac according to the air sac image; obtaining the deformation area of the air bag based on the outline of the air bag and the preset air bag outline; and inputting the deformation area into a first pressure detection model, and taking the output of the first pressure detection model as the pressure value of the measured object. The deformation quantity of the air bag is detected to detect the pressure, and the deformation quantity of the air bag can be accurately obtained because the air bag is detected based on the air bag image, so that the accuracy of detecting the external force applied to the air bag is improved, and the accuracy of pressure detection is further improved.

Description

Medical robot pressure detection method and medical robot
Technical Field
The invention relates to the technical field of medical treatment, in particular to a medical robot pressure detection method and a medical robot.
Background
In the prior art, the medical field mainly detects vital signs of a patient or pressure applied to the patient through a medical pressure sensor, and mainly detects deformation of a sensing material structure through a detection sensor in the sensor so as to obtain a pressure value required to be detected. However, in the prior art, the deformation coefficient of the touch material (such as rubber and a spring) obtained by detection is not accurate enough, and the deformation amount of the touch material is difficult to accurately determine even when the pressure is stored, so that the detected pressure is not accurate, and the failure rate of the robot operation is high or the operation effect is poor.
Disclosure of Invention
The present invention is directed to a medical robot pressure detection method and a medical robot, which are used to solve the above problems in the prior art.
The embodiment of the invention provides a pressure detection method for a medical robot, wherein a camera is connected with a processor, an air bag is used for sensing the pressure applied to a detected object, and the camera is used for shooting the deformation quantity of the air bag, and the method comprises the following steps:
when a shooting instruction is received, controlling a camera to shoot the airbag to obtain an airbag image;
obtaining the outline of the air sac according to the air sac image;
obtaining the deformation area of the air bag based on the outline of the air bag and the preset air bag outline;
inputting the deformation area into a first pressure detection model, and taking the output of the first pressure detection model as the pressure value of the measured object; wherein the first pressure detection model is:
Figure BDA0002391327180000011
wherein, F represents the pressure value received by the object to be measured, Delta S represents the deformation area of the air bag, G1 represents the weight of the pressure probe, the pressure probe is used for connecting the air bag and the object to be measured, G2 represents the weight of the air bag, and r represents the deformation coefficient of the air bag.
Optionally, the method further includes inputting the deformation area into a second pressure detection model, and taking an output of the second pressure detection model as a pressure value to which the measured object is subjected;
the second pressure detection model is:
Figure BDA0002391327180000021
wherein G3 represents the weight of a pressure plate used to support the airbag.
Optionally, an air pressure sensor and an air bag are arranged in the bag box, the air pressure sensor is used for detecting the pressure in the bag box, the method further includes that the processor determines the pressure value of the measured object according to the pressure and the deformation area of the air bag, and specifically the method includes:
inputting the pressure and the deformation area of the air bag into a third pressure detection model, taking the output of the third pressure detection model as the pressure value of the measured object, wherein the third pressure detection model is as follows:
Figure BDA0002391327180000022
wherein, S2 represents the projected area of the airbag on the top of the airbag box after the deformation of the airbag occurs, a is 0.3, b is 0.7, P1 represents the pressure, and P represents the atmospheric pressure.
Optionally, there are a plurality of airbag images, the shooting viewing angles of the airbag images are the same, and the shooting times of the airbag images are adjacent; obtaining a contour of a balloon from the balloon image, comprising:
identifying the air bag in each air bag image and obtaining the edge of the air bag in each air bag image;
randomly extracting the edge of an air bag as a target contour;
calculating the distances from the edges of the rest airbags to the target contour under the same visual angle, wherein the edge of each rest airbag corresponds to one distance, and the edges of the airbags correspond to a plurality of distances;
obtaining an average distance of the plurality of distances;
obtaining an average size of a contour formed by edges of a plurality of air bags;
obtaining an average profile based on the average size;
and setting the average contour at the position of the translation average distance of the target contour to obtain the contour of the air bag.
Optionally, there are a plurality of cameras, and the plurality of cameras are connected to the processor;
the cameras are used for shooting the air bags from multiple directions, the cameras are used for shooting air bag images at multiple angles, each camera is used for shooting multiple air bag images, and shooting time of the air bag images shot by each camera is adjacent;
the airbag image shot by each camera corresponds to the outline of the airbag at the position where the camera is located, and the plurality of cameras correspond to the outlines of the airbags at a plurality of positions.
Optionally, the obtaining of the deformation area of the airbag based on the contour of the airbag and a preset airbag contour includes:
setting outlines of airbags in multiple directions in the same empty image to obtain an airbag superposed image, wherein the size of the airbag superposed image is the same as that of the airbag image;
obtaining a plurality of intersection positions of the outline of the airbag at a plurality of orientations;
connecting the plurality of intersecting positions to obtain a first contour;
fitting based on the first contour to obtain a second contour, wherein the second contour represents the projection of the airbag on the top of the airbag box after the airbag deforms;
and taking the difference between the area of the second contour and the area of the preset air bag contour as the deformation area of the air bag.
Optionally, the air bag is made of air bag metal mixed transparent rubber, and the metal mixed transparent rubber comprises 30% of powdered shape memory alloy, 10% of powdered magnet and 60% of rubber.
Optionally, the deformation area of the airbag and the external force applied thereto satisfy the following formula:
Figure BDA0002391327180000031
wherein F1 represents an external force to which the airbag is subjected.
Optionally, the deformation coefficient r of the airbag satisfies:
Figure BDA0002391327180000032
wherein S1 represents an area of the preset balloon profile.
The embodiment of the invention also provides a medical robot for detecting the pressure applied to a patient, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the program to realize the steps of any one of the methods, and the patient is the object to be detected.
Compared with the prior art, the invention has the following beneficial effects:
the embodiment of the invention provides a medical robot pressure detection method and a medical robot, wherein the method comprises the following steps: when a shooting instruction is received, controlling a camera to shoot the airbag to obtain an airbag image; obtaining the outline of the air sac according to the air sac image; obtaining the deformation area of the air bag based on the outline of the air bag and the preset air bag outline; and inputting the deformation area into a first pressure detection model, and taking the output of the first pressure detection model as the pressure value of the measured object. The deformation quantity of the air bag is detected to detect the pressure, and the deformation quantity of the air bag can be accurately obtained because the air bag is detected based on the air bag image, so that the accuracy of detecting the external force applied to the air bag is improved, and the accuracy of pressure detection is further improved.
Drawings
Fig. 1 is a flowchart of a medical robot pressure detection method according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a medical robot sensor according to an embodiment of the present invention.
Fig. 3 is a schematic view of a connection structure between the bladder 150 and the pressure movable plate 160 in fig. 2.
Fig. 4 is a schematic view of a prevention and control structure of a medical robot according to an embodiment of the present invention.
The labels in the figure are: a medical robot sensor 100; a camera 110; a processor 120; a pressure probe 130; an air bag 140; a bladder box 150; a pressure movable plate 160; an air pressure sensor 170; a shooting cover 180; a protective cover 190; a slide groove 151; the projections 161; a ball groove 152; a ball 153; a bus 500; a receiver 501; a processor 502; a transmitter 503; a memory 504; a bus interface 505.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1, an embodiment of the present invention provides a medical robot pressure detection method, which is applied to a medical robot sensor 100 shown in fig. 2, the medical robot sensor 100 is disposed on a medical robot, and the medical robot sensor 100 includes a camera 110, a processor 120, a pressure probe 130, and a balloon 140. The pressure probe 130 is connected to the bladder 140 and the camera 110 is connected to the processor 120. The pressure probe 130 is used to contact a subject to be measured to detect pressure, and the balloon 140 is used to detect the pressure detected by the pressure probe 130. In embodiments of the present invention, the untested object may be a robotic arm, a human body, an animal, and other objects, such as cement boards, cement floors, houses, electrical poles, computers, and the like. The camera 110 is configured to photograph the airbag 140, obtain an airbag image, and send the airbag image to the processor 120, and the processor 120 is configured to detect a deformation degree of the airbag according to the airbag image to detect the pressure. The processor 120 may be any type of processor having an image processing function, such as a dragon core 3A3000/383000, an Intel core i5-9300H, Intel core i5-9400H, Intel core i79750H, an Intel core i7-9850H, Intel core i9-9880H, and an Intel core i9-9980 HK. Namely, the processor 120 is configured to detect a deformation degree of the balloon 140 according to the balloon image to determine a pressure value to which the balloon 140 is subjected, so as to detect the pressure value to which the object is subjected. Specifically, the medical robot pressure detection method includes:
s101: and when a shooting instruction is received, controlling the camera to shoot the air bag to obtain an air bag image. Specifically, the processor 120 controls the camera 110 to capture an image of the airbag 140 to obtain an airbag image.
S102: and obtaining the outline of the air sac according to the air sac image.
S103: and obtaining the deformation area of the air bag based on the outline of the air bag and the preset air bag outline.
S104: and inputting the deformation area into a first pressure detection model, and taking the output of the first pressure detection model as the pressure value of the measured object.
Through adopting above scheme, through the deformation volume that detects gasbag 140 with pressure detection, because detect the gasbag image based on the processor, can accurately obtain the deformation volume of gasbag 140, so improve the accuracy that gasbag 140 received the external force, and then improve pressure detection's accuracy.
The main execution bodies of S101 to S104 are processors 120, that is: the processor 120 is further configured to control the camera 110 to capture an airbag image when receiving the capture instruction. The processor 120 is configured to detect a deformation degree of the balloon 140 according to the balloon image, and detect the pressure by: the method comprises the steps of obtaining the outline of an air bag according to an air bag image, obtaining the deformation area of the air bag based on the outline of the air bag and the preset air bag outline, inputting the deformation area into a first pressure detection model, and taking the output of the first pressure detection model as the pressure value of a detected object. The camera 110 is disposed over the top of the airbag housing 150 to photograph the airbag 140.
At this time, the method of obtaining the outline of the balloon from the balloon image is as follows: and processing the airbag image by adopting a Canny operator, and extracting the outline of the airbag in the airbag image. Based on the outline of the air bag and the preset air bag outline, the obtained deformation area of the air bag is specifically as follows: and acquiring the area of the air bag in the area surrounded by the air bag outline and the preset area of the area surrounded by the preset air bag outline, and taking the difference between the area of the air bag and the preset area as the deformation area of the air bag. Inputting the deformation area into a first pressure detection model, and taking the output of the first pressure detection model as a pressure value to which the measured object is subjected, wherein the first pressure detection model is as follows:
Figure BDA0002391327180000051
wherein, F represents the pressure value received by the object to be measured, Delta S represents the deformation area of the air bag, G1 represents the weight of the pressure probe, the pressure probe is used for connecting the air bag and the object to be measured, G2 represents the weight of the air bag, and r represents the deformation coefficient of the air bag.
Optionally, the medical robot sensor further includes a capsule box 150 and a pressure movable plate 160, the capsule box 150 is cylindrical and barrel-shaped, and the top of the capsule box 150 is transparent. The airbag 140 is disposed in the bag case 150, and the pressure movable plate 160 is disposed in the bag case 150 for supporting the airbag 140. The pressure movable plate 160 may be movable in the axial direction of the bladder 150. One end of the pressure probe 130 is fixedly connected to the pressure-movable plate 160, and one end of the pressure probe 130 away from the pressure-movable plate 160 is used for detecting the pressure applied to the object to be measured. That is, the pressure probe 130 makes contact with the object to be measured, and the pressure applied to the object to be measured is transmitted to the pressure-movable plate 160 through the pressure probe 130, so that the pressure-movable plate 160 moves toward the top of the bladder 150, and the air bag 140 deforms under the pressure, thereby detecting the pressure applied to the object to be measured by detecting the deformation of the air bag 140. Among other things, the pressure movable plate 160 may be used to support and protect the airbag 140. In this case, the processor 120 is configured to detect the deformation degree of the balloon 140 according to the balloon image to detect the pressure, that is, the method further includes inputting the deformation area into a second pressure detection model, and taking the output of the second pressure detection model as the pressure value to which the object is subjected, the second pressure detection model being:
Figure BDA0002391327180000061
wherein G3 represents the weight of the pressure plate.
In order to more accurately detect the pressure applied to the object to be measured, the medical robot sensor 100 further includes a gas pressure sensor 170, and the gas pressure sensor 170 is connected to the processor 120. An air pressure sensor 170 is disposed within bladder chamber 150 for sensing the pressure within bladder chamber 150 and transmitting the pressure within bladder chamber 150 to processor 120. The processor 120 is further configured to determine a pressure value to which the object is subjected based on the pressure within the bladder housing 150 and the deformation area of the bladder 140. The method further includes that the processor determines the pressure value of the object to be measured according to the pressure and the deformation area of the air bag, and the determination is performed by the processor 120, that is, the determination of the pressure value of the object to be measured according to the pressure and the deformation area of the air bag is specifically:
inputting the pressure and the deformation area of the air bag into a third pressure detection model, taking the output of the third pressure detection model as the pressure value of the measured object, wherein the third pressure detection model is as follows:
Figure BDA0002391327180000062
wherein, S2 represents the projected area of the airbag on the top of the airbag box after the deformation of the airbag occurs, a is 0.3, b is 0.7, P1 represents the pressure, and P represents the atmospheric pressure. That is, the pressure variation obtained by detecting the variation of the pressure in the bladder box 150 and the pressure value obtained by photographing the deformation value of the bladder and according to the deformation coefficient of the bladder are weighted, and the corresponding error value is subtracted, and the weights of the pressure probe 130, the bladder 140 and the pressure movable plate 150 in the medical robot sensor 100 are added, so that the pressure value to which the object to be measured is subjected is finally obtained, and the accuracy of pressure detection is improved. In the interim, the pressure variation detected from the variation of the pressure in the bladder box 150 is (P1-P) × 2 × S2, and the pressure value obtained from the deformation coefficient of the bladder is (2 × Δ S × r), and the corresponding error value is (P) Δ S × r
Figure BDA0002391327180000071
In the middle, erThe index representing r, e is a natural index, a base of natural logarithm, sometimes referred to as the Euler's Number, is an infinite acyclic fractional Number having a value of about: 2.71828182845904523536.
the air pressure sensor 170 may be a CS100 air pressure sensor, an air pressure sensor TP-4310, or the like.
In order to improve the accuracy of detecting the deformation degree of the airbag 140, after the processor 120 receives the shooting instruction, the camera 110 is controlled to shoot a plurality of airbag images, that is, there are a plurality of airbag images, the shooting angles of the airbag images are the same (same camera, same angle), the shooting times of the airbag images are adjacent, and then the processor 120 obtains the outline of the airbag according to the airbag images, including: identifying the air bag in each air bag image, obtaining the edge of one air bag in each air bag image, and obtaining the edges of a plurality of air bags corresponding to the plurality of air bag images. Then randomly extracting the edge of one of the edges of the multiple airbags as a target contour, and calculating the distances from the edges of the rest airbags to the target contour under the same visual angle, wherein the edge of each rest airbag corresponds to one distance, and the edges of the multiple airbags correspond to multiple distances. Then obtaining the average distance of the distances and obtaining the average size of the outline formed by the edges of the airbags; i.e. the average of the sizes of the edges of the plurality of air bags. And finally, obtaining an average contour based on the average size, and setting the average contour at the position of the target contour translated by the average distance to obtain the contour of the air bag. Thus, the accuracy of the contour of the air bag after the air bag deforms under the pressure of the external force is high.
In one embodiment, the pressure movable plate 160 is provided with a plurality of vent holes to maintain the pressure inside the bladder 150 in balance with the pressure outside the bladder 150 when the bladder 140 is deformed. In another embodiment, the pressure-movable plate 160 is movably connected to the bag box 150 in a sealing manner, so as to detect the pressure inside the bag box 150 and thus the magnitude of the pressure applied by the pressure-movable plate 150 to the airbag 140, and thus the pressure value applied to the object to be detected. In the embodiment of the invention, the pressure applied to the detected object is detected according to the principle of acting force and reacting force.
Optionally, the medical robot sensor 100 further includes a semicircular camera cover 180. The shooting pot 180 has a diameter equal to that of the top of the capsule 150, and the camera 110 is disposed on the shooting pot 180. In order to obtain the balloon image from a plurality of positions and to improve the accuracy of obtaining the contour of the balloon and thus the accurate deformation area by the processor 120, the medical robot sensor 100 includes a plurality of cameras 110, i.e., a plurality of cameras 110, and the plurality of cameras 110 are connected to the processor. A plurality of shooting holes are uniformly formed on the shooting cover 180, and the camera 110 is disposed on the shooting holes to shoot the airbag 140 from a plurality of directions. In the embodiment of the present invention, the camera 110 may be a black-and-white night vision camera, an RGB camera, a charge-coupled device (CCD) camera, a Complementary Metal Oxide Semiconductor (CMOS) camera, or the like.
The camera system comprises a plurality of cameras, a plurality of cameras and a plurality of cameras, wherein the cameras shoot airbag images at a plurality of angles, each camera shoots a plurality of airbag images, the shooting time of the airbag images shot by each camera is adjacent, the airbag images shot by each camera correspond to the outline of an airbag in the position where the camera is located, and the cameras correspond to the outlines of the airbags in a plurality of positions. Obtaining a deformation area of the airbag based on the outline of the airbag and a preset airbag outline, comprising: setting outlines of airbags in multiple directions in the same empty image to obtain an airbag superposed image, wherein the size of the airbag superposed image is the same as that of the airbag image; obtaining a plurality of intersection positions of the outline of the airbag at a plurality of orientations; connecting the plurality of intersecting positions to obtain a first contour; fitting based on the first contour to obtain a second contour, wherein the second contour represents the projection of the airbag on the top of the airbag box after the airbag deforms; and taking the difference between the area of the second contour and the area of the preset air bag contour as the deformation area of the air bag. Therefore, errors existing in the deformation area of the airbag during observation and shooting at each visual angle are considered, the deformation area of the airbag obtained at last is combined with the deformation area of the airbag during observation and shooting at a plurality of visual angles, the accuracy of obtaining the deformation area of the airbag is improved, and the accuracy of detecting pressure is further improved.
In the embodiment of the present invention, the airbag 140 is made of a deformable transparent material, the deformation of the airbag 140 has recoverability, and the difference between the deformation projection area of the airbag 140 and the external force applied thereto satisfies the following formula:
Figure BDA0002391327180000081
here, F1 represents an external force to which the airbag 140 is subjected. Wherein, the gas isThe deformation coefficient r of the bladder satisfies the following formula:
Figure BDA0002391327180000091
wherein S1 represents the area of the preset balloon profile. Δ S represents a deformation area of the airbag.
Alternatively, bladder 140 is made of a metal mixed transparent rubber having a composition comprising 30% powdered shape memory alloy, 10% powdered magnet, and 60% rubber. Through evenly mixing the powdery shape memory alloy, the powdery magnet and the rubber, the manufactured air bag 140 has the shape memory performance, and the toughness and the ductility of the rubber are improved under the action of the magic magnet, so that the reusability of the medical robot sensor 100 is improved, the service life of the medical robot sensor 100 is prolonged, and the accuracy of pressure detection is improved.
In order to protect the camera 110, the medical robot sensor 100 further includes a semicircular protective cover 190. The radius of the protective cover is greater than the sum of the radius of the camera cover 180 and the height of the camera head 110 so that the camera cover 180 and the camera head 110 can be contained within the protective cover 190. The protective cover 190 is disposed outside the camera cover 180, and forms a cavity with a cross section of an annular shape with the camera cover 180 to protect the camera 110.
Optionally, the processor 120 is disposed on a side of the protective cover 190 away from the shoot cover 180. The protective cover 190 is provided with a plurality of wire holes through which connecting wires pass to connect the camera 110 and the processor 120.
In order to obtain the contour of the air bag accurately, the air bag 140 is closed, and the air bag 140 is filled with red gas. Alternatively, when the external force applied to the airbag 140 is zero, the airbag 140 is a spherical bag, and the projection of the airbag 140 and the red gas in the airbag on the top of the bag box 150 is a circle.
As shown in fig. 3, the inner wall of the bag box 150 is opened with a sliding groove 151, and the sliding groove 151 extends along the axial direction of the bag box 150. The pressure movable plate 160 is provided with a protrusion 161, and the protrusion 161 is snapped into the sliding groove 151 and can slide along the sliding groove 151. The cross section of the sliding groove 151 is a three-quarter circular arc. The sliding groove 151 is provided with a plurality of ball grooves 152, and the ball grooves 152 are provided with a plurality of balls 153.
The cross-section of the ball groove 152 is a three-quarter circular arc, and the circular arc radius of the ball groove 152 is less than or equal to one tenth of the circular arc radius of the sliding groove 151. The ball 153 is circular, and the radius of the ball 153 is smaller than the arc radius of the ball groove 152 and is greater than or equal to three-quarters of the arc radius of the ball groove 152.
The protrusion 161 is a sphere, and the diameter of the protrusion 161 is larger than or three-quarters of the double radius of the arc of the sliding groove 151 and smaller than one fifth of the radius of the arc.
Lubricating oil is applied or injected to the sliding groove 151, the protrusion 161, the ball groove 152, and the ball 153 to reduce friction between the bladder 150 and the pressure movable plate 160, thereby improving accuracy of pressure detection.
In order to keep the pressure movable plate 160 parallel to the top of the bag box 150 and to ensure the stability of the pressure movable plate 160, three sliding grooves 151 are uniformly formed on the inner wall of the bag box 150, and the sliding grooves 151 are connected to form an isosceles triangle. There are three protrusions 161 correspondingly.
An embodiment of the present invention further provides a medical robot, as shown in fig. 4, including a memory 504, a processor 502 and a computer program stored on the memory 504 and executable on the processor 502, where the processor 502 implements the steps of any one of the foregoing medical robot pressure detection methods when executing the program.
Where in fig. 4 a bus architecture (represented by bus 500) is shown, bus 500 may include any number of interconnected buses and bridges, and bus 500 links together various circuits including one or more processors, represented by processor 502, and memory, represented by memory 504. The bus 500 may also link together various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. A bus interface 505 provides an interface between the bus 500 and the receiver 501 and transmitter 503. The receiver 501 and the transmitter 503 may be the same element, i.e. a transceiver, providing a means for communicating with various other apparatus over a transmission medium. The processor 502 is responsible for managing the bus 500 and general processing, and the memory 504 may be used for storing data used by the processor 502 in performing operations.
The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functionality of some or all of the components in an apparatus according to an embodiment of the invention. The present invention may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.

Claims (10)

1. A medical robot pressure detection method is characterized in that a camera is connected with a processor, an air bag is used for sensing pressure applied to a detected object, and the camera is used for shooting deformation quantity of the air bag, and the method comprises the following steps:
when a shooting instruction is received, controlling a camera to shoot the airbag to obtain an airbag image;
obtaining the outline of the air sac according to the air sac image;
obtaining the deformation area of the air bag based on the outline of the air bag and the preset air bag outline;
inputting the deformation area into a first pressure detection model, and taking the output of the first pressure detection model as the pressure value of the measured object; wherein the first pressure detection model is:
Figure FDA0002391327170000011
wherein, F represents the pressure value received by the object to be measured, Delta S represents the deformation area of the air bag, G1 represents the weight of the pressure probe, the pressure probe is used for connecting the air bag and the object to be measured, G2 represents the weight of the air bag, and r represents the deformation coefficient of the air bag.
2. The method according to claim 1, further comprising inputting the deformation area into a second pressure detection model, and taking an output of the second pressure detection model as a pressure value to which the object is subjected;
the second pressure detection model is:
Figure FDA0002391327170000012
wherein G3 represents the weight of a pressure plate used to support the airbag.
3. The method according to claim 2, wherein an air pressure sensor and an air bag are arranged in the air bag box, the air pressure sensor is used for detecting the pressure in the air bag box, the method further comprises the step that the processor determines the pressure value to which the object to be detected is subjected according to the pressure and the deformation area of the air bag, and the method comprises the following steps:
inputting the pressure and the deformation area of the air bag into a third pressure detection model, taking the output of the third pressure detection model as the pressure value of the measured object, wherein the third pressure detection model is as follows:
Figure FDA0002391327170000013
wherein, S2 represents the projected area of the airbag on the top of the airbag box after the deformation of the airbag occurs, a is 0.3, b is 0.7, P1 represents the pressure, and P represents the atmospheric pressure.
4. The method according to claim 2, wherein there are a plurality of balloon images, the plurality of balloon images are captured at the same viewing angle, and the plurality of balloon images are captured at adjacent times; obtaining a contour of a balloon from the balloon image, comprising:
identifying the air bag in each air bag image and obtaining the edge of the air bag in each air bag image;
randomly extracting the edge of an air bag as a target contour;
calculating the distances from the edges of the rest airbags to the target contour under the same visual angle, wherein the edge of each rest airbag corresponds to one distance, and the edges of the airbags correspond to a plurality of distances;
obtaining an average distance of the plurality of distances;
obtaining an average size of a contour formed by edges of a plurality of air bags;
obtaining an average profile based on the average size;
and setting the average contour at the position of the translation average distance of the target contour to obtain the contour of the air bag.
5. The method of claim 4, wherein there are a plurality of said cameras, said plurality of said cameras being connected to said processor;
the cameras are used for shooting the air bags from multiple directions, the cameras are used for shooting air bag images at multiple angles, each camera is used for shooting multiple air bag images, and shooting time of the air bag images shot by each camera is adjacent;
the airbag image shot by each camera corresponds to the outline of the airbag at the position where the camera is located, and the plurality of cameras correspond to the outlines of the airbags at a plurality of positions.
6. The method of claim 5, wherein obtaining the deformation area of the balloon based on the balloon profile and a preset balloon profile comprises:
setting outlines of airbags in multiple directions in the same empty image to obtain an airbag superposed image, wherein the size of the airbag superposed image is the same as that of the airbag image;
obtaining a plurality of intersection positions of the outline of the airbag at a plurality of orientations;
connecting the plurality of intersecting positions to obtain a first contour;
fitting based on the first contour to obtain a second contour, wherein the second contour represents the projection of the airbag on the top of the airbag box after the airbag deforms;
and taking the difference between the area of the second contour and the area of the preset air bag contour as the deformation area of the air bag.
7. The method of claim 6, wherein the balloon is made of balloon metal mixed transparent rubber having a composition comprising 30% powdered shape memory alloy, 10% powdered magnet, 60% rubber.
8. The method of claim 6, wherein the deformation area of the balloon and the external force applied thereto satisfy the following equation:
Figure FDA0002391327170000031
wherein F1 represents an external force to which the airbag is subjected.
9. The method of claim 6, wherein the balloon has a deformation coefficient r that satisfies:
Figure FDA0002391327170000032
wherein S1 represents an area of the preset balloon profile.
10. A medical robot for detecting stress on a patient, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to perform the steps of the method of any one of claims 1 to 9, wherein the patient is the subject of the test described above.
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