CN112370165A - Operating handle control system and method, operating handle and medical equipment - Google Patents
Operating handle control system and method, operating handle and medical equipment Download PDFInfo
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- CN112370165A CN112370165A CN202011222293.XA CN202011222293A CN112370165A CN 112370165 A CN112370165 A CN 112370165A CN 202011222293 A CN202011222293 A CN 202011222293A CN 112370165 A CN112370165 A CN 112370165A
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- operating handle
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- A—HUMAN NECESSITIES
- 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
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- A—HUMAN NECESSITIES
- 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
- A61B34/37—Master-slave robots
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
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Abstract
The invention discloses an operating handle control system, a method, an operating handle and medical equipment, and relates to the technical field of medical instruments, wherein the system comprises: the touch key is arranged on the operating handle and used for generating a corresponding trigger signal according to the touch action; and the controller is used for receiving the trigger signal and outputting a first control signal for unlocking the operating handle according to the trigger signal. The invention has the beneficial effects that: only when the user triggers the touch key, the operation handle is unlocked, so that misoperation caused by mistakenly touching the operation handle is prevented.
Description
Technical Field
The invention belongs to the technical field of medical instruments, and particularly relates to an operating handle control system and method, an operating handle and medical equipment.
Background
The surgical robot is a very successful medical instrument scientific and technological achievement in recent years, and is a novel medical instrument integrating multiple disciplines such as clinical medicine, biomechanics, mechanics, materials science, computer science, microelectronics, electromechanical integration and the like. The surgical robot is generally controlled by an operating handle of an operating console, and an operator can directly control the instruments on the mechanical arm to act when picking up and putting down the operating handle, and if the relative motion between the instruments on the mechanical arm and a patient causes medical accidents in the surgical process. In actual use, if the operation handle is accidentally touched, the surgical robot can execute wrong control actions, so that medical accidents are caused.
Disclosure of Invention
The invention provides an operating handle control system, an operating handle control method, an operating handle and medical equipment based on the technical problem that an operating handle of a surgical robot is easy to be touched by mistake.
In a first aspect, an embodiment of the present invention provides an operating handle control system, including:
the touch key is arranged on the operating handle and used for generating a corresponding trigger signal according to the touch action;
and the controller is used for receiving the trigger signal and outputting a first control signal for unlocking the operating handle according to the trigger signal.
Optionally, the controller is further configured to output a second control signal for locking the operating handle when the trigger signal disappears.
Optionally, the touch key comprises:
a key housing;
and the touch sensing circuit is attached to one surface, close to the operating handle, of the key shell, the output end of the touch sensing circuit is connected with the input end of the controller, and the touch sensing circuit is used for generating a trigger signal according to the touch action.
Optionally, the touch sensing circuit includes a capacitive sensing circuit or a resistive sensing circuit.
Optionally, the touch key further comprises:
and the induction disc is arranged between the key shell and the touch sensing circuit and used for transmitting the touch action received by the key shell to the touch sensing circuit.
In a second aspect, embodiments of the present invention provide an operating handle provided with an operating handle control system as described in any of the above embodiments.
In a third aspect, embodiments of the present invention provide a medical apparatus including an operating handle as described in the above embodiments.
In a fourth aspect, an embodiment of the present invention provides an operating handle control method, which is applied to an operating handle control system as described in any one of the above embodiments, and the method includes:
detecting whether a touch key on the operating handle generates a trigger signal;
when the touch key generates a trigger signal, a first control signal for unlocking the operating handle is output.
Optionally, the method further comprises:
and when the touch key does not generate the trigger signal, outputting a second control signal for locking the operating handle so as to lock the operating handle according to the second control signal.
According to the operating handle control system, the operating handle control method, the operating handle and the medical equipment, the touch button is arranged on the operating handle, when the touch button is touched, the touch button generates a trigger signal, and when the controller receives the trigger signal, the controller generates a first control signal which is output according to the trigger signal and used for unlocking the operating handle, so that the operating handle can normally work. Therefore, the control system of the operating handle provided by the embodiment of the invention unlocks the operating handle only under the condition that the user triggers the touch key, so that misoperation caused by mistakenly touching the operating handle is prevented.
Drawings
The scope of the present disclosure may be better understood by reading the following detailed description of exemplary embodiments in conjunction with the accompanying drawings. Wherein the included drawings are:
FIG. 1 is a schematic structural diagram of an operating handle control system according to an embodiment of the present invention
Fig. 2 is a schematic structural diagram of a touch key according to an embodiment of the present invention;
figure 3 shows a flow chart of the control method of the operating handle according to the embodiment of the invention,
fig. 4 shows a schematic structural view of an operating handle according to an embodiment of the present invention.
Description of the labeling: 20-touch key, 201-key housing, 202-touch sensing circuit, 203-sensing disc, 10-handle, 14-finger driving mechanism.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the following will describe in detail an implementation method of the present invention with reference to the accompanying drawings and embodiments, so that how to apply technical means to solve the technical problems and achieve the technical effects can be fully understood and implemented.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
Example one
According to an embodiment of the present invention, there is provided an operating handle 10 control system including:
the touch key 20 is arranged on the operating handle 10 and used for generating a corresponding trigger signal according to a touch action;
and the controller 30 is used for receiving the trigger signal and outputting a first control signal for unlocking the operating handle according to the trigger signal.
Here, the touch key 20 may be disposed on a side of the operation handle 10 close to the thumb, so that the user can conveniently approach or touch the touch key 20 with the thumb while using the operation handle 10. When the user uses the operation handle 10 to control the controlled device, he or she needs to approach, press or touch the touch key 20. When the touch key 20 detects a touch action of approaching, pressing or touching, it generates a trigger signal, which is an electrical signal. The controller 30 generates a first control signal after receiving the trigger signal, so as to unlock the operating handle 10 according to the first control signal. The unlocking means that after the operation handle 10 is unlocked, the user can normally use the operation handle 10 to control the surgical robot.
The controller 30 may be one of an industrial personal computer, an MCU, or a CPU processor.
Therefore, when the touch key 20 does not generate a trigger signal, the operation handle 10 cannot be unlocked, and the operation handle 10 is prevented from being touched by mistake when not being used, so that misoperation of the surgical robot controlled by the operation handle 10 is prevented.
It should be noted that the locking of the operating handle 10 may be mechanical locking, and mechanical unlocking refers to locking the operating handle 10 by using a mechanical locking structure, and the operating handle 10 cannot move after being locked. The unlocking process is to output a first control signal, and the mechanical locking structure receives the first control signal and locks the operating handle.
In an alternative embodiment, the controller 30 is further configured to output a second control signal for locking the operating handle when the trigger signal disappears.
Here, the controller 30 outputs a second control signal to control the mechanical locking mechanism to lock the operation handle 10 according to the second control signal when detecting that the trigger signal generated by the touch key 20 disappears. Wherein the touch key 20 does not generate a trigger signal when it is not approached, pressed or touched.
It should be noted that locking the operation handle 10 means that the operation handle 10 is in a locked state, and even if the user operates the operation handle 10, the controlled device of the operation handle cannot be controlled.
Thus, when the user does not use the operation handle 10 for a while, the operation handle 10 is locked, and an erroneous control operation of the operation handle 10 in the case of a touch by mistake is prevented.
In an alternative implementation manner, fig. 2 shows a schematic structural diagram of a touch sensing key 20 according to an embodiment of the present invention, and as shown in fig. 2, the touch sensing key 20 includes:
a key housing 201;
a touch sensing circuit 202 attached to a surface of the key housing 201 close to the operating handle 10, wherein an output end of the touch sensing circuit 202 is connected to an input end of the controller 30, and the touch sensing circuit 202 is configured to generate a trigger signal according to the touch action.
Here, the operating handle 10 is provided with a through hole, the touch sensing circuit 202 is disposed in the through hole, and the button housing 201 is disposed on the touch sensing circuit 202 for transmitting a signal generated by a user operation to the touch sensing circuit 202. When a user uses the operation handle 10, the finger presses or touches the key housing 201, and the key housing 201 triggers the touch sensing circuit 202 to generate a trigger signal.
Here, the touch sensing circuit 202 is used for triggering the touch key 20 to generate a trigger signal only when a user performs a touch action of approaching, pressing or touching the touch key 20 with a finger of the user. For example, when the user touches the key housing 201 with a finger, the high level signal generated by the touch sensing circuit 202 changes to a low level signal, thereby generating a trigger signal.
The touch sensing circuit 202 includes a capacitive sensing circuit or a resistive sensing circuit.
For the capacitive sensing circuit, the capacitive sensing circuit has a certain sensing range, and when a finger of a user approaches the capacitive sensing circuit, the voltage of the capacitive sensing circuit is changed, so that a trigger signal is generated. The capacitive sensing circuit can detect a signal touched by a human hand by touching or approaching the capacitive sensing circuit for a certain distance, such as within 3mm, so as to generate a trigger signal.
For the resistive sensing circuit, it uses the variation of the pressure value to generate the trigger signal, which is essentially equivalent to a pressure sensor. When a user presses the key housing 201 with a finger, a pressure value of the resistive sensing circuit is changed. And generating a trigger signal if the pressure value is detected to be smaller than the set value.
It should be noted that the material of the key housing is selected according to the touch sensing circuit 202. For example, when the touch key 20 generates a trigger signal through a capacitive sensing circuit, the material of the key housing 201 may be selected to be a material capable of transmitting a capacitive signal. When the resistive sensing circuit is used, the key housing 201 may be made of plastic.
In an alternative embodiment, the touch key 20 further includes:
and the induction disc 203 is arranged between the key shell 201 and the touch sensing circuit 202 and is used for transmitting the touch action received by the key shell 201 to the touch sensing circuit 202.
The sensing pad 203 is used for transmitting a pressing or touching signal of a user to the touch sensing circuit 202, so as to trigger the touch sensing circuit 202 to generate a trigger signal. The contact area between the key shell 201 and the touch sensing circuit 202 can be increased by the sensing plate 203, so that the touch key 20 is more sensitive.
It is noted that the sensing pad may be a metal sheet.
Therefore, when the user touches the touch key, the controller 30 receives the touch signal generated by the touch key 20 and then performs an unlocking operation on the operating handle of the surgical robot, and when the user leaves the operating handle 10, if the interval is a preset time, the controller 30 detects that the trigger signal disappears after the preset time, then the operating handle of the surgical robot is locked again.
Example two
According to an embodiment of the present invention, there is also provided an operating handle provided with the operating handle control system as set forth in any one of the above embodiments.
EXAMPLE III
According to an embodiment of the present invention, there is also provided a medical apparatus including the operating handle as described in the above embodiment.
Example four
According to an embodiment of the present invention, there is also provided an operation handle control method applied to the operation handle control system according to any one of the above embodiments, and fig. 3 shows a flowchart of the operation handle control method according to the embodiment of the present invention, and as shown in fig. 3, the method includes:
and 120, outputting a first control signal for unlocking the operating handle when the touch key generates a trigger signal.
Here, when a user presses or touches the touch key, the touch key generates a trigger signal, and when the controller receives the trigger signal, the controller outputs a first control signal to unlock the operating handle according to the first control signal, so that the operating handle can normally operate the controlled device.
Optionally, the method further comprises:
and when the touch key does not generate the trigger signal, outputting a second control signal for locking the operating handle.
Here, when the user does not press or touch the touch key, the touch key does not generate a trigger signal, and when the controller does not receive the trigger signal, the controller unlocks the operating handle according to the first control signal, so that the operating handle can normally operate the controlled device.
The technical scheme of the invention is explained in detail in the above with reference to the attached drawings, and the technical problem that the operating handle of the surgical robot is easily touched by mistake in the related art is considered. The invention provides an operating handle control system, an operating handle control method, an operating handle and medical equipment. Therefore, the control system of the operating handle provided by the embodiment of the invention can unlock the operating handle under the condition that the user triggers the touch key, so that misoperation caused by mistakenly touching the operating handle is prevented.
Although the embodiments of the present invention have been described above, the above description is only for the convenience of understanding the present invention, and is not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. An operating handle control system, comprising:
the touch key is arranged on the operating handle and used for generating a corresponding trigger signal according to the touch action;
and the controller is used for receiving the trigger signal and outputting a first control signal for unlocking the operating handle according to the trigger signal.
2. The operating handle control system according to claim 1, wherein the controller is further configured to output a second control signal for locking the operating handle when the trigger signal disappears.
3. The operating handle control system as recited in claim 1 wherein said touch key comprises:
a key housing;
and the touch sensing circuit is attached to one surface, close to the operating handle, of the key shell, the output end of the touch sensing circuit is connected with the input end of the controller, and the touch sensing circuit is used for generating a trigger signal according to the touch action.
4. The operating handle control system as recited in claim 3 wherein the touch sensing circuit comprises a capacitive sensing circuit or a resistive sensing circuit.
5. The operating handle control system as recited in claim 3 wherein said touch key further comprises:
and the induction disc is arranged between the key shell and the touch sensing circuit and used for transmitting the touch action received by the key shell to the touch sensing circuit.
6. An operating handle characterized in that an operating handle control system according to any one of claims 1 to 5 is provided.
7. A medical device comprising the operating handle of claim 6.
8. An operating handle control method applied to the operating handle control system according to claims 1 to 5, the method comprising:
detecting whether a touch key on the operating handle generates a trigger signal;
when the touch key generates a trigger signal, a first control signal for unlocking the operating handle is output.
9. The operating handle control method as recited in claim 8, further comprising:
and when the touch key does not generate the trigger signal, outputting a second control signal for locking the operating handle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011222293.XA CN112370165A (en) | 2020-11-05 | 2020-11-05 | Operating handle control system and method, operating handle and medical equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011222293.XA CN112370165A (en) | 2020-11-05 | 2020-11-05 | Operating handle control system and method, operating handle and medical equipment |
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| Publication Number | Publication Date |
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| CN112370165A true CN112370165A (en) | 2021-02-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011222293.XA Pending CN112370165A (en) | 2020-11-05 | 2020-11-05 | Operating handle control system and method, operating handle and medical equipment |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113940759A (en) * | 2021-09-26 | 2022-01-18 | 武汉联影智融医疗科技有限公司 | Puncture operation master control platform and puncture robot |
| CN115607297A (en) * | 2022-10-19 | 2023-01-17 | 山东大学 | Tremor-suppression master-slave surgical robot control system and method |
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| CN115607297B (en) * | 2022-10-19 | 2024-04-30 | 山东大学 | Master-slave operation robot control system and method for tremor suppression |
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