CN113779533B - Operator identification method, device and system for medical robot - Google Patents
Operator identification method, device and system for medical robot Download PDFInfo
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Abstract
The application relates to an operator identity recognition method, device and system for a medical robot. The method comprises the following steps: collecting biological characteristics to be compared of an operator; comparing the biological characteristics to be compared with standard biological characteristics; acquiring operation qualification corresponding to the standard biological characteristics successfully compared; judging whether the operator has the authority to operate the medical robot according to the operation qualification, and outputting a judging result. By adopting the method, the identity can be accurately identified.
Description
Technical Field
The application relates to the technical field of artificial intelligence, in particular to an operator identity recognition method, device and system for a medical robot.
Background
The medical robot is an intelligent service robot and is used for medical treatment or auxiliary medical treatment of hospitals and clinics. The operation plan can be independently compiled, the action program is determined according to the actual situation, and then the action is changed into the movement of the operation mechanism.
In the conventional technology, identity confirmation of a user using a medical robot is achieved by inputting an identity and the like.
However, the current identity confirmation method implemented by inputting an identity mark and the like cannot avoid that after inputting the identity mark, other people replace the medical robot, and cannot avoid that a doctor who does not receive training takes the identity mark to use the medical robot and the like through an abnormal means, so that the identity confirmation of a user using the current medical robot has defects.
Disclosure of Invention
In view of the foregoing, it is desirable to provide an operator identification method, apparatus, and system for a medical robot that can accurately perform identification.
A method for operator identification for a medical robot, the method comprising:
collecting biological characteristics to be compared of an operator;
Comparing the biological characteristics to be compared with standard biological characteristics;
acquiring operation qualification corresponding to the standard biological characteristics successfully compared;
judging whether the operator has the authority to operate the medical robot according to the operation qualification, and outputting a judging result.
In one embodiment, the collecting the biometric characteristic of the operator to be aligned includes at least one of:
the iris characteristic of an operator is acquired at an irregular time or according to a preset acquisition time interval through iris acquisition equipment arranged in an ocular of the medical robot;
Collecting fingerprint characteristics of an operator at random or according to a preset collecting time interval through fingerprint collecting equipment arranged on an operating mechanism of the medical robot;
Acquiring face characteristics of an operator through face recognition equipment arranged on the medical robot at an irregular time or according to a preset acquisition time interval;
blood characteristics of an operator are acquired by a blood characteristic acquisition device mounted on a manipulator of the medical robot at intervals of time or at preset acquisition time intervals.
In one embodiment, before the comparing the biological feature to be compared with the standard biological feature, the method further includes:
Collecting standard biological characteristics of an operator;
Generating configuration information according to the standard biological characteristics and the operator identification;
acquiring training data corresponding to the operator;
Judging whether the operator has operation qualification according to the training data, if so, adding the operation qualification corresponding to the standard biological characteristics into the configuration information.
In one embodiment, the comparing the biometric to be compared with the standard biometric includes:
comparing the biological characteristics to be compared acquired at least once with standard biological characteristics;
calculating the comparison success rate of the biological characteristics to be compared and the standard biological characteristics in the comparison of the preset times;
And when the comparison success rate meets the requirement, judging that the comparison between the biological characteristics to be compared and the standard biological characteristics is successful.
In one embodiment, the method further comprises:
when the operator does not have the authority to operate the medical robot, outputting prompt information that the identity does not meet the requirement; and modifying the collection rule of the biological characteristics to be compared.
In one embodiment, the method further comprises:
When the operator has the authority to operate the medical robot, calculating according to the biological characteristics to be compared to obtain the current state of the operator;
and if the current state does not meet the operation requirement, outputting state prompt information.
In one embodiment, the calculating the current state of the operator according to the biometric to be compared includes at least one of the following:
calculating according to eyelid movement characteristics and/or pupil focusing positions of an operator to obtain the current state of the operator;
the current state of the operator is calculated according to the blood characteristics in the blood vessel.
In one embodiment, the method further comprises:
When the operator has the authority to operate the medical robot, acquiring historical operation information corresponding to the successfully-compared standard biological characteristics;
and adjusting the posture of the medical robot according to the historical operation information.
In one embodiment, the adjusting the pose of the medical robot according to the historical operation information includes:
Acquiring an operator identifier corresponding to the standard biological characteristics successfully compared;
outputting the operator identification and prompt information of whether to adjust the posture of the medical robot;
When the indication information for adjusting the posture of the medical robot is received, the posture of the medical robot is adjusted according to the indication information and the historical operation information.
An operator identification device for a medical robot, the device being applied before and/or during use of the medical robot, the device comprising:
the acquisition module is used for acquiring biological characteristics to be compared of an operator;
the comparison module is used for comparing the biological characteristics to be compared with the standard biological characteristics;
the operation qualification acquisition module is used for acquiring operation qualification corresponding to the standard biological characteristics which are successfully compared;
And the permission judging module is used for judging whether the operator has permission to operate the medical robot according to the operation qualification.
An operator identification system for a medical robot, the system comprising:
a medical robot;
The biological characteristic acquisition equipment is arranged on the medical robot or is in communication connection with the medical robot and is used for acquiring biological characteristics of an operator to be compared;
The processor is respectively communicated with the medical robot and the biological characteristic acquisition device, and is used for judging whether an operator has the authority to operate the medical robot according to the operator identification method for the medical robot in any one of the embodiments.
In one embodiment, the biometric acquisition device comprises one or more of an iris acquisition device mounted in an eyepiece of the medical robot, a fingerprint acquisition device mounted on a steering mechanism of the medical robot, a face recognition device mounted on the medical robot, and a blood feature acquisition device mounted on a steering mechanism of the medical robot.
A computer device comprising a memory storing a computer program and a processor implementing the steps of the method described above when the processor executes the computer program.
According to the operator identification method, device and system for the medical robot, the biological characteristics to be compared of the operator can be acquired through the biological characteristic acquisition equipment before and/or during the use of the medical robot, and then the biological characteristics to be compared are compared with the standard biological characteristics to determine the corresponding operation qualification, so that whether the operator has the right to operate the medical robot or not is judged.
Drawings
FIG. 1 is a schematic diagram of an operator identification system for a medical robot in one embodiment;
FIG. 2 is a block diagram of an operator identification system for a medical robot in one embodiment;
FIG. 3 is a flow diagram of an operator identification method for a medical robot in one embodiment;
FIG. 4 is a flow chart of an operator identification method of a medical robot according to another embodiment;
FIG. 5 is a flow chart of the preprocessing steps in one embodiment;
FIG. 6 is a flowchart of step S304 in the embodiment shown in FIG. 3;
FIG. 7 is a flow chart of a status detection step in one embodiment;
FIG. 8 is a flow chart of the attitude adjustment steps in one embodiment;
FIG. 9 is a detailed flow chart of an operator identification method for a medical robot in yet another embodiment;
FIG. 10 is a block diagram of an operator identification device for a medical robot in one embodiment;
FIG. 11 is an internal block diagram of a computer device in one embodiment.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
The operator identification method for the medical robot, provided by the application, can be applied to an operator identification system for the medical robot as shown in fig. 1. Wherein the operator identification system for a medical robot comprises a medical robot, a biological feature collection device and a processor, wherein the biological feature collection device is mounted on the medical robot or the biological feature collection device is not mounted on the medical robot, optionally, when the biological feature collection device is mounted on the medical robot, the biological feature collection device comprises one or more of an iris collection device 102 mounted in an eyepiece 101 of the medical robot, a manipulation mechanism 103 mounted on the medical robot, such as a fingerprint collection device 104 mounted on a manipulation master hand, a face recognition device mounted on the medical robot and a blood feature collection device mounted on a manipulation mechanism of the medical robot; when the biological characteristic acquisition equipment is not installed on the medical robot, the biological characteristic acquisition equipment is in communication connection with the medical robot, is an independent acquisition device and is connected to the medical robot or is transmitted to a medical robot database through a USB flash disk, a network cable, a network port and the like. As in fig. 1, a program for an operator identification method of a medical robot is stored in a processor, which can control a biometric acquisition device mounted on the medical robot. Wherein optionally a processor may be provided separately for each biometric acquisition device or multiple biometric acquisition devices may correspond to the same processor. The processor acquires the biological characteristics to be compared of an operator through the biological characteristic acquisition equipment; comparing the biological characteristics to be compared with the standard biological characteristics; acquiring operation qualification corresponding to the standard biological characteristics successfully compared; judging whether the operator has the authority to operate the medical robot according to the operation qualification. Because the biological characteristics can be acquired before and/or during use and cannot be acquired by other people, the defects of impersonation and the like do not exist, and the identification is more accurate.
Referring to fig. 2, each of the biometric feature collection devices and the corresponding processor may be separate or share one processor, if the processors are separate, each processor processes the biometric feature to be compared collected by the biometric feature collection device separately, and outputs a result, if the processors share one processor, the processors may process the biometric feature to be compared collected by the biometric feature collection device in parallel.
Taking a separate processor as an example for explanation, the processor corresponding to the iris feature collection device may include at least one of a process of performing identification based on the biometric to be compared, a process of performing operator status detection based on the biometric to be compared, and a process of performing robot pose optimization based on the biometric to be compared. The processor of the fingerprint acquisition device may include at least one of a process of identifying the biometric feature to be compared and a process of optimizing the robot pose according to the biometric feature to be compared.
Wherein the iris characteristic acquisition equipment and the corresponding processor are called an iris recognition system, the fingerprint acquisition equipment and the corresponding processor are called a fingerprint recognition system, and the iris recognition system is arranged in an ocular lens of the medical robot; the fingerprint identification system is arranged on an operating mechanism of the medical robot, such as an operating main hand;
The iris recognition system comprises an identity authentication module, a state monitoring module and a habit optimization module; the identity authentication module is used for authenticating the identity of an operator in an irregular mode through the iris recognition system, and authority examination is included in the process; rights review refers to determining whether an operator qualifies for operation by comparing the operator's job title, experience, etc.; the state monitoring module is used for monitoring the state of an operator in an untimely mode through the iris recognition system, prompting the operator to be in a sleepy or uncomfortable state through judging the characteristics of eyeballs and the like, and making corresponding prompting or attention matters; the habit optimization module records the use habit of an operator according to identity authentication, and can optimize the use experience by setting traceability, such as optimizing the gesture of an operator console.
The fingerprint identification system comprises an identity authentication module and a habit optimization module; similar to the function of the iris recognition system, the identity authentication authenticates the identity of an operator in an irregular mode through the fingerprint recognition system, and authority examination is included in the process, so that the dual safety of the identity authentication is ensured; habit optimization function refers to recording the use habit of an operator according to identity authentication, and can optimize the use experience by setting traceability, such as optimizing the gesture of an operator console.
Specifically, in the present embodiment, as shown in conjunction with fig. 1 and 2, wherein the medical robot of the present embodiment includes a master operation device and a slave operation device, wherein a doctor controls the master operation device to achieve control of the slave operation device. The iris characteristic acquisition device is arranged on the ocular of the main operation device, so that when a doctor observes through the ocular during operation, the iris characteristic of the doctor can be acquired in real time through the iris characteristic acquisition device without sense. Similarly, the fingerprint acquisition device is arranged on the operating mechanism of the main operating device, so that when a doctor operates the operating mechanism, the fingerprint characteristics of the doctor can be acquired through the fingerprint acquisition device in real time without sense, and subsequent identity comparison is continued, thereby realizing the identification of the identity of the doctor.
In one embodiment, as shown in fig. 3, there is provided an operator identification method for a medical robot, which is described by taking an example that the method is applied to the processor in fig. 1, and includes the following steps:
s302: and collecting biological characteristics to be compared of an operator.
Specifically, the specific definition of the biometric acquisition device may be referred to above, wherein the biometric acquisition device, if mounted on the medical robot, may include one or more of an iris acquisition device mounted in an eyepiece of the medical robot, a fingerprint acquisition device mounted on an operating mechanism of the medical robot, a face recognition device mounted on the medical robot, and a blood feature recognition device mounted on an operating mechanism of the medical robot, so that the biometric to be compared may include one or more of an iris feature of an operator acquired by the iris acquisition device mounted in the eyepiece of the medical robot at an timing of or at a preset acquisition time interval, a fingerprint feature of an operator acquired by the fingerprint acquisition device mounted on the operating mechanism of the medical robot at an timing of or at a preset acquisition time interval, a face feature of an operator acquired by the face recognition device mounted on the medical robot at an timing of or at a preset acquisition time interval, and a blood feature recognition device mounted on the operating mechanism of the medical robot at an timing of or at a preset acquisition time interval.
The biological characteristic acquisition equipment arranged on the medical robot is used for acquiring, so that the identity of a doctor can be identified and corresponding data can be recorded at any moment under the condition that the operation of the doctor is not influenced, and the medical robot is effectively prevented from being replaced by other people; in addition, the permission is set based on the operation qualification of operation training, so that the safety is improved.
S304: and comparing the biological characteristics to be compared with the standard biological characteristics.
In particular, the standard biometric may be pre-acquired and stored, for example, the standard biometric of each operator is acquired and stored in a database in association with the operator identification and corresponding operational qualification. The biological characteristics to be compared can be acquired through biological characteristic acquisition equipment arranged on the medical robot, or can be acquired through biological characteristic acquisition equipment independent of the medical robot, for example, the biological characteristics are acquired through independent equipment, and then the biological characteristics are transmitted to the medical robot through a USB flash disk, a network cable, a network port and the like.
Thus, after the processor acquires the biological characteristics to be compared, the biological characteristics to be compared are compared with the standard biological characteristics stored in the database. Preferably, the processor may acquire the type of the biometric feature to be compared first and then compare the type of the biometric feature with the standard biometric feature of the same type in the database when comparing the biometric feature.
Preferably, the standard biological feature is a biological feature of an operator corresponding to the current operation of the medical robot, the standard biological feature is acquired in advance, and the acquired standard biological feature is associated with the medical robot of the current operation in advance, for example, the biological feature corresponding to the operator required by the current operation of the medical robot is configured in advance, so that when the comparison is performed, the processor is firstly compared with the standard biological feature of the operator corresponding to the current operation of the medical robot, the comparison quantity can be greatly reduced, if the comparison fails, for example, after the comparison is performed for a plurality of times, the comparison success rate is lower than a certain value, the processor outputs a prompt that the operator is replaced. And the processor compares the biological characteristics to be processed with all standard biological characteristics in the database so as to perform qualification examination on the operator and judge whether the operator is qualified for operation.
S306: and obtaining the operation qualification corresponding to the standard biological characteristics which are successfully compared.
In particular, the operation qualification is also pre-stored in the database, wherein the operation qualification is used for representing that an operator is qualified for operating the corresponding medical robot, and the operation qualification can be understood as qualification, operation training times, machine familiarity and the like. Optionally, a plurality of operation qualification types may be set in the database according to the type of the medical robot, and whether the operator has operation qualification is characterized by a flag bit or the like, for example, the processor may acquire the operation qualification corresponding to the standard biological feature which is successfully compared, and then query whether the corresponding operation qualification has according to the type of the current medical robot.
S308: judging whether the operator has the authority to operate the medical robot according to the operation qualification.
Specifically, if the processor acquires the operation qualification of the type of the corresponding medical robot, it indicates that the operator has the right to operate the medical robot, and the medical robot can be operated.
Optionally, if the judgment is made by the method before the medical robot is used, and it is determined that the operator has no operation authority, the authentication can be performed again, and if the operation authority is still not available after a plurality of authentications, the medical robot is locked. If the medical robot is used, the judgment is carried out by the method, and the operator is determined to have no operation authority, the authentication can be carried out again, if the operation authority is not available after a plurality of authentications, the alarm information is output and recorded, and the medical robot is not locked in order to ensure the normal operation.
Specifically, in combination with fig. 4, in practical application, the medical robot performs self-checking before operation to ensure the safety of the medical robot, and then performs identity confirmation, before operation, the operation qualification of the operator is verified by the method, if the operation qualification passes, the operation is started, the biological characteristics to be compared of the operator are acquired periodically in the operation process, and the operation qualification of the operator is verified by the method, and optionally, before the operation qualification passes, the posture of the medical robot can be corrected according to the historical operation data of the operator, and during the operation, the state of the operator can be detected by the biological characteristics to be compared of the operator, which can be seen in the following.
According to the operator identification method for the medical robot, the biological characteristics to be compared of the operator can be collected through the biological characteristic collecting equipment arranged on the medical robot before and/or during the use of the medical robot, and then the biological characteristics to be compared are compared with the standard biological characteristics to determine the corresponding operation qualification, so that whether the operator has the right to operate the medical robot or not is judged.
In one embodiment, referring to fig. 5, fig. 5 is a flow chart of a pretreatment step in one embodiment, wherein the pretreatment step comprises, prior to comparing the biological feature to be compared to a standard biological feature:
S502: standard biological characteristics of the operator are collected.
Specifically, prior to the operation, specialized training is required for the operator, and a database is built according to the number, the biological characteristics, and the like of the operator, wherein the processor acquires the standard biological characteristics of the operator through the biological characteristic acquisition device during the training.
S504: configuration information is generated based on the standard biometric and the operator identification.
Specifically, the operator identifier may be an operator number that uniquely identifies the operator, so that the standard biometric and the operator identifier are associated to generate configuration data and stored in the database, which may facilitate subsequent queries, and optionally, in other embodiments, may also be backed up.
S506: and acquiring training data corresponding to the operator.
Specifically, the training data is data that records operator training, such as surgical simulation training data using such robots and training data corresponding to surgical procedures, including, but not limited to, training time, training level, etc., where the training data may be entered into the database by a professional operator.
S508: judging whether the operator has operation qualification according to the training data, if so, adding the operation qualification corresponding to the standard biological characteristics into the configuration information.
Specifically, whether the operator is qualified for operation according to the training data may be automatically determined according to rules stored in the processor in advance, or may be input after being checked by a professional operator. Wherein the automatic judgment can be calculated according to training time, training grade and the like.
In the embodiment, the basic information and biological characteristics of operators are collected, a related database is established, the training effect and operation qualification of each operator are recorded, and a foundation is laid for subsequent identification.
In one embodiment, referring to fig. 6, fig. 6 is a flowchart of step S304 in the embodiment shown in fig. 3, where step S304 is to compare the biometric to be compared with the standard biometric, and includes: comparing the biological characteristics to be compared which are acquired at least once with standard biological characteristics; calculating the comparison success rate of the to-be-compared biological characteristics and the standard biological characteristics in the comparison of the preset times; and when the comparison success rate meets the requirement, judging that the biological characteristics to be compared are successfully compared with the standard biological characteristics.
Specifically, after the biological feature is collected by the biological feature collection device, the processor compares the collected biological feature to be compared with the standard biological feature in the database to determine whether the operator has operation qualification, if the operator has operation qualification, the next biological feature to be compared is continuously collected, if the operator does not have operation qualification, the biological feature to be compared is collected for multiple times, for example, the biological feature to be compared is collected according to the preset times within the preset time interval, and after the biological feature to be compared collected for multiple times is compared with the standard biological feature, the comparison success rate is calculated, wherein the comparison success rate=the times of the operator having operation qualification/the preset times, if the success rate is greater than a certain value, for example, the comparison is successful, so that the next biological feature to be compared is continuously collected. Optionally, when the operator does not have the authority to operate the medical robot, a prompt message that the identity does not meet the requirement is output, that is, if the success rate does not meet the requirement, an alarm message is output, for example, the prompt is displayed through a display, or the prompt is performed through a preset device, or the prompt is performed through a buzzer, and the prompting mode is not particularly limited.
Note that if the operator is judged to be qualified for operation this time, it is possible to periodically judge whether the operator is qualified for operation or not, without timing or with a long time interval. If the operator does not have the operation qualification, the collection rule of the biological feature to be compared can be modified, for example, the time interval of each collection can be shortened or the biological feature to be compared can be regularly or irregularly collected for a preset number of times in a preset time period, so as to prevent false alarm caused by errors caused by system errors.
In the embodiment, the comparison success rate is determined through multiple times of comparison, so that whether the alarm is given or not is further determined, the accuracy of the alarm is ensured, and false alarm is avoided.
In one embodiment, after determining whether the operator has the right to operate the medical robot based on the operation qualification, the method includes: when the operator has the authority to operate the medical robot, calculating according to the biological characteristics to be compared to obtain the current state of the operator; and if the current state does not meet the operation requirement, outputting state prompt information.
Specifically, the current state of the operator is obtained by calculating the biometric feature to be compared of the operator during or before the operation, optionally, the current state of the operator is obtained by calculating the biometric feature to be compared, which includes at least one of the following: calculating according to eyelid movement characteristics and/or pupil focusing positions to obtain the current state of an operator; and calculating according to the blood characteristics in the blood vessel to obtain the current state of the operator.
Specifically, the current state includes a normal state and an abnormal state, and the abnormal state may refer to a tired state, wherein the processor may analyze through an iris acquisition device of an eyepiece, for example, an iris sensor, which is introduced into an eye feature of an operator, identify a blink feature and a pupil focusing position, analyze the tired state of the operator through an algorithm, and if the state is not good, perform an operation prompt, for example, display operator state information through an auxiliary display, or send out voice prompt information through a buzzer, etc., which may be specifically shown in fig. 7.
In one embodiment, before the method is applied to the medical robot, after judging whether the operator has the right to operate the medical robot according to the operation qualification, the method includes: when an operator has the authority to operate the medical robot, acquiring historical operation information corresponding to the successfully-compared standard biological characteristics; and adjusting the posture of the medical robot according to the historical operation information.
Specifically, as shown in fig. 8, before the operation, the medical robot is powered on for self-inspection, and then an operator operates the medical robot, so that the biological feature collecting device can collect biological features to be compared and compare the biological features with standard biological features to obtain historical operation information, and the processor adjusts the posture of the medical robot according to the historical operation information.
Wherein optionally, adjusting the posture of the medical robot according to the historical operation information includes: acquiring an operator identifier corresponding to the standard biological characteristics successfully compared; outputting an operator identifier and prompt information of whether to adjust the posture of the medical robot; when the indication information for adjusting the posture of the medical robot is received, the posture of the medical robot is adjusted according to the indication information and the historical operation information.
Specifically, in order to avoid misoperation, that is, adjust the posture of the medical robot for multiple times, after the processor obtains the historical operation information, the processor can output the operator identification of the operator, for example, the operator name and the corresponding prompt information for adjusting the posture of the medical robot, so that the operator can determine whether to adjust the posture of the medical robot, if so, the processor adjusts the posture of the medical robot according to the historical operation information, otherwise, the posture of the medical robot is not adjusted.
Specifically, in order to ensure that the technical solution is fully understood by those skilled in the art, referring to fig. 9, fig. 9 is a specific flowchart of an operator identification method for a medical robot according to still another embodiment, in which a biometric acquisition device is described by taking a fingerprint acquisition device and an iris acquisition device as an example, and specifically includes:
Firstly, a database is generated, so that the standard biological characteristics of an operator operating the medical robot and corresponding operation qualification are stored in the database, and the standard biological characteristics in the database are directly compared when the comparison is carried out subsequently.
In the actual use process, the medical robot performs self-inspection firstly so as to ensure the safety of the medical robot.
Then, the biological characteristics to be compared are collected through fingerprint identification equipment and iris identification equipment, for example, an operator extracts the characteristic value of the fingerprint through a fingerprint device of an operation handle and compares the characteristic value with standard fingerprints in a database, so that the operation qualification is verified, and if the operation qualification does not pass the operation qualification examination, the operation qualification needs to be re-verified; if the operation qualification examination is passed, the operation habit can be traced back through the identity of the operator, so that the medical robot can be automatically adjusted to the preferred posture of the operator, and then the normal operation stage is entered. In addition, biological characteristics to be compared can be acquired before operation through iris recognition equipment arranged at the ocular, the biological characteristics are compared with a robot authorization database, and the operation habit can be traced through the identity of an operator, so that the medical robot can be automatically adjusted to the favorite posture of the operator, then the operator enters a normal operation stage, and an unregistered operator gives an alarm and records. It should be noted that the operation qualification may be verified by only one of the fingerprint recognition device or the iris recognition device, or by both of them before the operation, and the present invention is not limited in particular.
In actual operation, the processor also collects biological characteristics to be compared according to the fingerprint identification equipment and the iris identification equipment so as to carry out unscheduled identity identification. For example, the iris recognition device and the fingerprint recognition device perform multi-mode and irregular recognition on an operator, and if the recognition is the same as the standard biological characteristics registered before operation, the operation is normal; if the operator is different, prompting the replacement operator on a display of the medical robot, checking the qualification of the operator for replacement again, and if the operator is qualified for operation, prompting the operator before non-operation and recording; if the operation qualification is not met, alarming an operator without qualification, and recording. Whether the operator is a predetermined operator before the operation or not, the operation is normally performed with only a prompt or alarm and recording.
The processor records the operation habit of the operator through the fingerprint identification equipment and the iris identification equipment in the operation process, optimizes the operation experience according to the algorithm in the system and adjusts the equipment through biological characteristics.
In the operation process, the medical robot analyzes the eyeball characteristics of an operator through the ocular iris sensor, identifies the blink characteristics and the pupil focusing position, analyzes the fatigue state of the operator through an algorithm, and carries out operation prompt if the state is poor, for example, the operation prompt is carried out by displaying the state information of the operator through an auxiliary display or sending out voice prompt information through a buzzer and the like.
In addition, after the operation is completed, the operation process is recorded and uploaded to a database for retrospective access and analysis optimization.
It should be understood that, although the steps in the flowcharts of fig. 3, 4, 5, 6, 7, 8, and 9 are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least a portion of the steps of fig. 3, 4, 5, 6, 7, 8, and 9 may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the execution of the steps or stages is not necessarily sequential, but may be performed in rotation or alternatively with at least a portion of the steps or stages of other steps or other steps.
In one embodiment, as shown in fig. 10, there is provided an operator identification device for a medical robot, the device being applied before and/or during use of the medical robot, comprising: the system comprises an acquisition module 100, an comparison module 200, an operation qualification acquisition module 300 and a permission determination module 400, wherein:
the acquisition module 100 is used for acquiring biological characteristics to be compared of an operator by acquisition equipment;
the comparison module 200 is used for comparing the biological characteristics to be compared with the standard biological characteristics;
The operation qualification obtaining module 300 is configured to obtain an operation qualification corresponding to the standard biometric feature that is successfully compared;
The permission determination module 400 is configured to determine whether the operator has permission to operate the medical robot according to the operation qualification, and output a determination result.
In one embodiment, the acquisition module 100 is configured to acquire the biometric to be aligned by at least one of: collecting iris characteristics of an operator at fixed time or according to a preset collecting time interval through iris collecting equipment arranged in an ocular of the medical robot, and collecting fingerprint characteristics of the operator at fixed time or according to a preset collecting time interval through fingerprint collecting equipment arranged in an operating mechanism of the medical robot; acquiring face characteristics of an operator through face recognition equipment arranged on the medical robot at an irregular time or according to a preset acquisition time interval; blood characteristics of an operator are acquired by a blood characteristic acquisition device mounted on a manipulator of the medical robot at intervals of time or at preset acquisition time intervals.
In one embodiment, the operator identification device for a medical robot further includes:
the pre-acquisition module is used for acquiring the standard biological characteristics of an operator through biological characteristic acquisition equipment arranged on the medical robot;
The generation module is used for generating configuration information according to the standard biological characteristics and the operator identification;
the training data acquisition module is used for acquiring training data corresponding to an operator;
The configuration module is used for judging whether the operator has operation qualification according to the training data, if so, the operation qualification corresponding to the standard biological characteristics is added in the configuration information.
In one embodiment, the alignment module 200 includes:
The comparison unit is used for comparing the biological characteristics to be compared acquired at least once with the standard biological characteristics;
the comparison success rate calculation unit is used for calculating the comparison success rate of the to-be-compared biological characteristics and the standard biological characteristics in the comparison of the preset times;
And the judging unit is used for judging that the biological characteristics to be compared are successfully compared with the standard biological characteristics when the comparison success rate meets the requirement.
In one embodiment, the operator identification device for a medical robot further includes:
The first output module is used for outputting prompt information that the identity does not meet the requirement when the operator does not have the authority to operate the medical robot; and modifying the collection rule of the biological characteristics to be compared.
In one embodiment, the operator identification device for a medical robot further includes:
The state acquisition module is used for calculating the current state of the operator according to the biological characteristics to be compared when the operator has the authority to operate the medical robot;
and the second output module is used for outputting state prompt information if the current state does not meet the operation requirement.
In one embodiment, the state obtaining module is configured to calculate the current state according to at least one of the following manners: calculating according to eyelid movement characteristics and/or pupil focusing positions to obtain the current state of an operator; and calculating according to the blood characteristics in the blood vessel to obtain the current state of the operator.
In one embodiment, the operator identification device for a medical robot further includes:
The historical operation information acquisition module is used for acquiring historical operation information corresponding to successfully-compared standard biological characteristics when an operator has the authority to operate the medical robot;
and the adjusting module is used for adjusting the posture of the medical robot according to the historical operation information.
In one embodiment, the adjusting module includes:
The identification acquisition unit is used for acquiring an operator identification corresponding to the standard biological characteristics which are successfully compared;
the output unit is used for outputting an operator identifier and prompt information of whether to adjust the posture of the medical robot;
and the adjusting unit is used for adjusting the posture of the medical robot according to the indicating information and the historical operating information when receiving the indicating information for adjusting the posture of the medical robot.
For specific limitations on the operator identification device for a medical robot, reference may be made to the above limitations on the operator identification method for a medical robot, and no further description is given here. The respective modules in the above-described operator identification device for a medical robot may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a computer device is provided, which may be a terminal, and the internal structure thereof may be as shown in fig. 11. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless mode can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement an operator identification method for a medical robot. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, can also be keys, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.
It will be appreciated by those skilled in the art that the structure shown in FIG. 11 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements may be applied, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.
In one embodiment, a computer device is provided comprising a memory and a processor, the memory having stored therein a computer program, the processor when executing the computer program performing the steps of: collecting biological characteristics to be compared of an operator; comparing the biological characteristics to be compared with the standard biological characteristics; and acquiring the operation qualification corresponding to the standard biological characteristics successfully compared, judging whether an operator has the authority to operate the medical robot according to the operation qualification, and outputting a judging result.
In one embodiment, the processor, when executing the computer program, is configured to collect the biometric feature to be aligned of the operator by using a biometric feature collection device installed on the medical robot, including at least one of the following: the iris characteristic of an operator is acquired at an irregular time or according to a preset acquisition time interval through iris acquisition equipment arranged in an ocular lens of the medical robot; collecting fingerprint characteristics of an operator at random or according to a preset collecting time interval through fingerprint collecting equipment arranged on an operating mechanism of the medical robot; acquiring face characteristics of an operator through face recognition equipment arranged on the medical robot at an irregular time or according to a preset acquisition time interval; blood characteristics of an operator are acquired by a blood characteristic acquisition device mounted on a manipulator of the medical robot at intervals of time or at preset acquisition time intervals.
In one embodiment, before the comparing the biometric to be compared with the standard biometric, which is implemented when the processor executes the computer program, the method further comprises: collecting standard biological characteristics of an operator through biological characteristic collecting equipment arranged on the medical robot; generating configuration information according to the standard biological characteristics and the operator identification; acquiring training data corresponding to an operator; judging whether the operator has operation qualification according to the training data, if so, adding the operation qualification corresponding to the standard biological characteristics into the configuration information.
In one embodiment, the comparison of the biometric to be compared to the standard biometric achieved when the processor executes the computer program comprises: comparing the biological characteristics to be compared which are acquired at least once with standard biological characteristics; calculating the comparison success rate of the to-be-compared biological characteristics and the standard biological characteristics in the comparison of the preset times; and when the comparison success rate meets the requirement, judging that the biological characteristics to be compared are successfully compared with the standard biological characteristics.
In one embodiment, after determining whether the operator has the right to operate the medical robot based on the operation qualification, which is implemented when the processor executes the computer program, includes: when the operator does not have the authority to operate the medical robot, outputting prompt information that the identity does not meet the requirement; and modifying the collection rule of the biological characteristics to be compared.
In one embodiment, after determining whether the operator has the right to operate the medical robot based on the operation qualification, which is implemented when the processor executes the computer program, includes: when the operator has the authority to operate the medical robot, calculating according to the biological characteristics to be compared to obtain the current state of the operator; and if the current state does not meet the operation requirement, outputting state prompt information.
In one embodiment, the processor, when executing the computer program, calculates the current state of the operator according to the biometric to be compared, including at least one of the following: calculating according to eyelid movement characteristics and/or pupil focusing positions to obtain the current state of an operator; and calculating according to the blood characteristics in the blood vessel to obtain the current state of the operator.
In one embodiment, after the method implemented when the processor executes the computer program is applied to the medical robot before the medical robot is used, the method implemented when the processor executes the computer program determines whether the operator has the right to operate the medical robot according to the operation qualification, which includes: when an operator has the authority to operate the medical robot, acquiring historical operation information corresponding to the successfully-compared standard biological characteristics; and adjusting the posture of the medical robot according to the historical operation information.
In one embodiment, adjusting the pose of the medical robot according to the historical operating information implemented when the processor executes the computer program comprises: acquiring an operator identifier corresponding to the standard biological characteristics successfully compared; outputting an operator identifier and prompt information of whether to adjust the posture of the medical robot; when the indication information for adjusting the posture of the medical robot is received, the posture of the medical robot is adjusted according to the indication information and the historical operation information.
In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of: collecting biological characteristics to be compared of an operator; comparing the biological characteristics to be compared with the standard biological characteristics; and acquiring the operation qualification corresponding to the standard biological characteristics successfully compared, judging whether an operator has the authority to operate the medical robot according to the operation qualification, and outputting a judging result.
In one embodiment, the computer program, when executed by the processor, is implemented to collect biometric characteristics of an operator to be aligned, comprising at least one of: the iris characteristic of an operator is acquired at an irregular time or according to a preset acquisition time interval through iris acquisition equipment arranged in an ocular lens of the medical robot; collecting fingerprint characteristics of an operator at random or according to a preset collecting time interval through fingerprint collecting equipment arranged on an operating mechanism of the medical robot; acquiring face characteristics of an operator through face recognition equipment arranged on the medical robot at an irregular time or according to a preset acquisition time interval; blood characteristics of an operator are acquired by a blood characteristic acquisition device mounted on a manipulator of the medical robot at intervals of time or at preset acquisition time intervals.
In one embodiment, before the comparing the biometric to be compared with the standard biometric, the computer program when executed by the processor further comprises: collecting standard biological characteristics of an operator through biological characteristic collecting equipment arranged on the medical robot; generating configuration information according to the standard biological characteristics and the operator identification; acquiring training data corresponding to an operator; judging whether the operator has operation qualification according to the training data, if so, adding the operation qualification corresponding to the standard biological characteristics into the configuration information.
In one embodiment, a computer program, when executed by a processor, performs an alignment of a biometric to be aligned with a standard biometric, comprising: comparing the biological characteristics to be compared which are acquired at least once with standard biological characteristics; calculating the comparison success rate of the to-be-compared biological characteristics and the standard biological characteristics in the comparison of the preset times; and when the comparison success rate meets the requirement, judging that the biological characteristics to be compared are successfully compared with the standard biological characteristics.
In one embodiment, after determining whether the operator has the right to operate the medical robot based on the operation qualification, which is implemented when the computer program is executed by the processor, comprises: when the operator does not have the authority to operate the medical robot, outputting prompt information that the identity does not meet the requirement; and modifying the collection rule of the biological characteristics to be compared.
In one embodiment, after determining whether the operator has the right to operate the medical robot based on the operation qualification, which is implemented when the computer program is executed by the processor, comprises: when the operator has the authority to operate the medical robot, calculating according to the biological characteristics to be compared to obtain the current state of the operator; and if the current state does not meet the operation requirement, outputting state prompt information.
In one embodiment, the computer program, when executed by the processor, calculates a current state of the operator based on the biometric to be compared, comprising at least one of: calculating according to eyelid movement characteristics and/or pupil focusing positions to obtain the current state of an operator; and calculating according to the blood characteristics in the blood vessel to obtain the current state of the operator.
In one embodiment, after the computer program is executed by the processor to determine whether the operator has the right to operate the medical robot according to the operation qualification before the computer program is applied to the medical robot, the method includes: when an operator has the authority to operate the medical robot, acquiring historical operation information corresponding to the successfully-compared standard biological characteristics; and adjusting the posture of the medical robot according to the historical operation information.
In one embodiment, the adjusting of the pose of the medical robot according to the historical operating information, as implemented when the computer program is executed by the processor, comprises: acquiring an operator identifier corresponding to the standard biological characteristics successfully compared; outputting an operator identifier and prompt information of whether to adjust the posture of the medical robot; when the indication information for adjusting the posture of the medical robot is received, the posture of the medical robot is adjusted according to the indication information and the historical operation information.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, or the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory. By way of illustration, and not limitation, RAM can be in various forms such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), etc.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Claims (11)
1. A method for operator identification for a medical robot, the method comprising:
the biological characteristics to be compared of an operator are acquired without sense through at least one of iris acquisition equipment installed in an ocular lens of the medical robot, fingerprint acquisition equipment installed in an operating mechanism of the medical robot, face recognition equipment installed on the medical robot and blood characteristic acquisition equipment installed in the operating mechanism of the medical robot;
Comparing the biological characteristics to be compared with standard biological characteristics;
acquiring operation qualification corresponding to the standard biological characteristics successfully compared;
judging whether the operator has the authority to operate the medical robot according to the operation qualification, and outputting a judging result;
when the operator does not have the authority to operate the medical robot, outputting prompt information that the identity does not meet the requirement; and modifying the collection rule of the biological features to be compared, wherein modifying the collection rule of the biological features to be compared comprises: shortening the time interval of the collection of the biological characteristics to be compared; and when the operator has the authority to operate the medical robot, the time interval of the acquisition of the biological characteristics to be compared is prolonged.
2. The method of claim 1, wherein the collecting the biometric of the operator to be aligned comprises at least one of:
the iris characteristic of an operator is acquired at an irregular time or according to a preset acquisition time interval through iris acquisition equipment arranged in an ocular of the medical robot;
Collecting fingerprint characteristics of an operator at random or according to a preset collecting time interval through fingerprint collecting equipment arranged on an operating mechanism of the medical robot;
Acquiring face characteristics of an operator through face recognition equipment arranged on the medical robot at an irregular time or according to a preset acquisition time interval;
blood characteristics of an operator are acquired by a blood characteristic acquisition device mounted on a manipulator of the medical robot at intervals of time or at preset acquisition time intervals.
3. The method of claim 1, wherein prior to said comparing the biometric to be compared to a standard biometric, further comprising:
Collecting standard biological characteristics of an operator;
Generating configuration information according to the standard biological characteristics and the operator identification;
acquiring training data corresponding to the operator;
Judging whether the operator has operation qualification according to the training data, if so, adding the operation qualification corresponding to the standard biological characteristics into the configuration information.
4. The method of claim 1, wherein said comparing the biometric to be compared to a standard biometric comprises:
comparing the biological characteristics to be compared acquired at least once with standard biological characteristics;
calculating the comparison success rate of the biological characteristics to be compared and the standard biological characteristics in the comparison of the preset times;
And when the comparison success rate meets the requirement, judging that the comparison between the biological characteristics to be compared and the standard biological characteristics is successful.
5. The method according to claim 2, wherein the method further comprises:
When the operator has the authority to operate the medical robot, calculating according to the biological characteristics to be compared to obtain the current state of the operator;
and if the current state does not meet the operation requirement, outputting state prompt information.
6. The method of claim 5, wherein the calculating the current status of the operator from the biometric to be compared comprises at least one of:
calculating according to eyelid movement characteristics and/or pupil focusing positions of an operator to obtain the current state of the operator;
the current state of the operator is calculated according to the blood characteristics in the blood vessel.
7. The method according to claim 1, wherein the method further comprises:
When the operator has the authority to operate the medical robot, acquiring historical operation information corresponding to the successfully-compared standard biological characteristics;
and adjusting the posture of the medical robot according to the historical operation information.
8. The method of claim 7, wherein said adjusting the pose of the medical robot according to the historical operating information comprises:
Acquiring an operator identifier corresponding to the standard biological characteristics successfully compared;
outputting the operator identification and prompt information of whether to adjust the posture of the medical robot;
When the indication information for adjusting the posture of the medical robot is received, the posture of the medical robot is adjusted according to the indication information and the historical operation information.
9. An operator identification device for a medical robot, the device being applied before and/or during use of the medical robot, the device comprising:
the acquisition module is used for acquiring biological characteristics to be compared of an operator without sense through at least one of iris acquisition equipment installed in an ocular of the medical robot, fingerprint acquisition equipment installed in an operating mechanism of the medical robot, face recognition equipment installed on the medical robot and blood characteristic acquisition equipment installed in the operating mechanism of the medical robot;
the comparison module is used for comparing the biological characteristics to be compared with the standard biological characteristics;
the operation qualification acquisition module is used for acquiring operation qualification corresponding to the standard biological characteristics which are successfully compared;
The permission judging module is used for judging whether the operator has permission to operate the medical robot according to the operation qualification;
The first output module is used for outputting prompt information that the identity does not meet the requirement when the operator does not have the authority to operate the medical robot; and modifying the collection rule of the biological features to be compared, wherein modifying the collection rule of the biological features to be compared comprises: shortening the time interval of the collection of the biological characteristics to be compared; and when the operator has the authority to operate the medical robot, the time interval of the acquisition of the biological characteristics to be compared is prolonged.
10. An operator identification system for a medical robot, the system comprising:
a medical robot;
The biological characteristic acquisition equipment is arranged on the medical robot and is used for acquiring biological characteristics of an operator to be compared in a non-inductive manner;
A processor in communication with the medical robot and the biometric acquisition device, respectively, the processor being configured to determine whether an operator has authority to operate the medical robot according to the operator identification method for a medical robot as set forth in any one of claims 1 to 8; the biological characteristic collection device comprises one or more of iris collection device arranged in an ocular of the medical robot, fingerprint collection device arranged on an operating mechanism of the medical robot, face recognition device arranged on the medical robot and blood characteristic collection device arranged on the operating mechanism of the medical robot.
11. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any one of claims 1 to 8 when the computer program is executed.
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| CN202110998319.8A CN113779533B (en) | 2021-08-27 | 2021-08-27 | Operator identification method, device and system for medical robot |
| PCT/CN2022/114654 WO2023025219A1 (en) | 2021-08-27 | 2022-08-25 | Method, device and system for identifying operator of medical robot |
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| CN202110998319.8A CN113779533B (en) | 2021-08-27 | 2021-08-27 | Operator identification method, device and system for medical robot |
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| WO2023025219A1 (en) | 2023-03-02 |
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