CN115359896A - Operation and monitoring analysis system based on data analysis and remote control - Google Patents
Operation and monitoring analysis system based on data analysis and remote control Download PDFInfo
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- CN115359896A CN115359896A CN202211282996.0A CN202211282996A CN115359896A CN 115359896 A CN115359896 A CN 115359896A CN 202211282996 A CN202211282996 A CN 202211282996A CN 115359896 A CN115359896 A CN 115359896A
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
- G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
- G16H40/67—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation
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- 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
- A61B34/35—Surgical robots for telesurgery
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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
- A61B34/70—Manipulators specially adapted for use in surgery
Abstract
The invention relates to the field of remote operations, in particular to a surgical operation and monitoring analysis system based on data analysis and remote control. According to the invention, a doctor makes an operation scheme according to a diagnosis result of a patient disease, a central control unit compares the radius of a circle where a single curvilinear motion path is located with the radius of a circle where a preset curvilinear motion path is located in an actual operation process according to division of an operation path in a data storage unit, compares deflection angles between operation paths with deflection angles between preset motion paths, and selects a corresponding processing mode according to a comparison result. The accuracy and reliability of the remote operation are improved while the network delay in the remote operation process is avoided or the operation path is deviated due to the emergency of doctors; the positioning precision of the operation is effectively improved, the operation damage is reduced, and the efficiency and the success rate of the operation are further improved.
Description
Technical Field
The invention relates to the field of remote operations, in particular to a surgical operation and monitoring analysis system based on data analysis and remote control.
Background
Remote operation is based on internet and internet of things, carries out remote control with the operation that carries out to the patient to surgical instruments equipment, in order to more effectively and reasonable utilization doctor resource, and operation experience's doctor accessible remote operation carries out the operation to the patient, can make the patient in time obtain the treatment.
The accuracy of the existing remote operation mainly depends on the operation experience of an operator and the stability of the operation, a system for carrying out data real-time monitoring and dangerous emergency control on the operation action of the operator is not provided, when the operator carries out remote operation on a patient, the spirit of the operator needs to be highly concentrated, but only the subjective experience of the operator is relied on, the safety guarantee cannot be carried out on the process of the remote operation, the phenomenon of misoperation can occur, and certain harm can be caused to the patient.
Disclosure of Invention
Therefore, the invention provides a surgical operation and monitoring analysis system based on data analysis and remote control, which is used for overcoming the problem of low matching precision of a remote surgery and a normalized surgery path in the prior art.
In order to achieve the above object, the present invention provides a surgical operation and monitoring analysis system based on data analysis and remote control, comprising:
the data storage unit is used for storing a surgical plan made by a doctor according to a diagnosis result of a patient disease and relevant data in a surgical process; the related data comprises a preset motion path, an actual motion path, motion path types and total motion path length of the surgical instrument;
the central control unit is connected with the data storage unit and used for selecting a corresponding remote mechanical arm magnification adjusting coefficient according to the total length of the motion path to adjust the magnification of the action amplitude of the mechanical arm; the central control unit divides a preset motion path of the surgical instrument in the data storage unit to obtain a plurality of paths, and judges whether to control the surgical arm at the patient end and the mechanical arm at the doctor end to move together with corresponding sensitivity according to the deviation of each motion path and the corresponding actual motion path in the actual surgical process;
the image acquisition unit is connected with the central control unit and is used for acquiring image information in the surgical process of the patient end in real time and transmitting the acquired image information to the image display of the doctor end;
and the sensitivity unit is connected with the central control unit and is used for adjusting the sensitivity of the surgical instrument moving in all directions in the surgical process.
Further, the central control unit divides the preset motion path of the surgical instrument in the data storage unit into a preset curvilinear motion path and a preset linear motion path, and for a single preset curvilinear motion path, the preset curvilinear motion path is an arc line located in a single circle; the central control unit is used for respectively setting corresponding preset deviation standards aiming at all preset motion paths, the preset deviation standards comprise preset deflection angles and preset arc radiuses for a single preset curve motion path, the preset deviation standards comprise preset deviation angles for a single preset straight line motion path, and the central control unit is used for respectively detecting actual motion paths of the mechanical arm when the mechanical arm moves according to the preset curve motion path and sequentially comparing all the actual motion paths with the corresponding preset motion paths so as to judge whether the actual motion paths with the tracks not conforming to the standards exist.
The central control unit is internally provided with a preset deflection angle theta 0, and the deflection angle is an included angle between a tangent line at the starting point of the curvilinear motion path and a tangent line at the ending point of the curvilinear motion path; the middle control unit controls the sensitivity control assembly to set the sensitivity of the mechanical arm to be the first-gear sensitivity when judging that the path to be traveled by the surgical arm is a linear motion path, controls the sensitivity control assembly to set the sensitivity of the mechanical arm to be the second-gear sensitivity when judging that the path to be traveled by the surgical arm is a curved motion path and the deflection angle theta of the motion path is not more than theta 0, and controls the sensitivity control assembly to set the sensitivity of the mechanical arm to be the third-gear sensitivity when judging that the path to be traveled by the surgical arm is a curved motion path and the deflection angle theta of the motion path is more than theta 0.
Furthermore, a first preset linear motion path offset angle B1 and a second preset linear motion path offset angle B2 are arranged in the central control unit, wherein B1 is smaller than B2, the central control unit is used for acquiring the offset angle B between the actual linear motion path and the preset linear motion path in the image information acquired by the image acquisition unit,
if B is less than or equal to B1, the central control unit judges that the actual linear motion path meets the standard, and the mechanical arm can continue to move according to the preset linear motion path;
if B1 is larger than B and is not larger than B2, the central control unit judges that the actual linear motion path does not meet the standard, and the central control unit adjusts the first gear sensitivity to enable the offset angle of each actual motion path of the surgical arm to meet a preset value;
if B1 is larger than B2, the central control unit judges that the actual linear motion path has errors in the process of advancing, controls the operation arm to stop moving, and prompts the deviation between the current actual motion path and the preset linear motion path at the doctor end.
Further, the first-gear sensitivity of the sensitivity control assembly is 1.8mm; the second-gear sensitivity is 2.2mm; the sensitivity of the third gear is 3.5mm, and the sensitivity of each gear is the offset distance between the actual motion path of the cooperative work of the mechanical arm and the operation arm and the preset motion path; in the actual operation process, the minimum absolute distance between the mechanical arm and the preset motion path in each time node is detected in real time, and if the minimum absolute distance is lower than the sensitivity of the corresponding gear, the central control unit maintains the current point position of the operation arm at the corresponding position in the preset path of the operation arm.
Furthermore, a first standard circular arc radius difference value delta R1 and a second standard circular arc radius difference value delta R2 are arranged in the central control unit, wherein delta R1 is less than delta R2, when the image acquisition unit acquires the curvilinear motion paths in real time, the central control unit compares the circular arc radius R of each actual curvilinear motion path with the difference value delta R of the circular arc radius R of the preset curvilinear motion path to set delta R = | R-R | according to the difference value delta R of the circular arc radius R of each actual curvilinear motion path and the preset curvilinear motion path,
if delta R is less than delta R1, the central control unit judges that the arc radius of the actual curvilinear motion path meets the standard, and the mechanical arm can continue to move according to a preset linear or curvilinear motion path; the central control unit detects that the deflection direction between the actual motion paths is compared with the deflection direction between the preset motion paths to determine whether the deflection direction between the actual motion paths meets the standard or not;
if the delta R1 is less than the delta R and less than or equal to the delta R2, the central control unit judges that the arc radius of the actual curvilinear motion path is not in the standard range, and the central control unit adjusts the sensitivity of the mechanical arm so as to enable the deflection angle of each actual motion path of the surgical arm to accord with a preset value;
if delta R is larger than delta R2, the central control unit judges that the arc radius advancing process of the actual curve motion path is wrong, the central control unit controls the operation arm to stop moving, and the deviation between each current actual motion path and each preset motion path at the doctor end is prompted.
Furthermore, the central control unit detects the deflection direction between the actual motion paths and the deflection direction between the preset motion paths to compare so as to determine whether the deflection direction between the actual motion paths meets the standard or not,
if the deflection direction between the actual motion paths is not consistent with the deflection direction between the preset motion paths, the central control unit controls the surgical arm to stop moving and prompts a doctor end that the deflection direction of the current motion path of the mechanical arm is wrong;
if the deflection direction between the actual motion paths is consistent with the deflection direction between the preset paths, the central control unit judges that the deflection direction is accurate, and the central control unit calculates whether the difference value between the deflection angle between the actual motion paths and the deflection angle between the preset motion paths is in the standard deflection angle difference value range or not so as to judge whether the conversion between the operation paths meets the standard or not.
Further, a standard deflection angle difference delta alpha 0 is arranged in the central control unit, and the central control unit calculates whether the difference delta alpha of the deflection angle alpha 1 between each actual motion path and the deflection angle alpha 2 between each preset motion path is in a standard deflection angle difference range or not so as to judge whether the conversion between each operation path meets the standard or not, wherein delta alpha is not larger than | alpha 1-alpha 2|,
if the delta alpha is less than or equal to the delta alpha 1, the central control unit judges that the deflection angle between the actual paths meets the standard, and the mechanical arm can continue to move according to the preset motion path;
if delta alpha is larger than delta alpha 1, the central control unit judges that the deflection angle between the actual motion paths is not in the standard range, the central control unit controls the operation arm to stop moving, and prompts the deviation between the current actual motion paths of the doctor end.
Furthermore, a first sensitivity adjustment coefficient beta 1 and a second sensitivity adjustment coefficient beta 2 are arranged in the central control unit, wherein beta 1 is more than 0 and beta 2 is more than 1, when the central control unit judges and adjusts the sensitivity of each gear so as to lead the deflection angle of each actual motion path of the operation arm to accord with a preset value,
if the motion path is a curvilinear motion path, the central control unit judges that the sensitivity of the second gear or the third gear is adjusted by using beta 2;
if the motion path is a linear motion path, the central control unit judges that the sensitivity of the first gear is adjusted by using beta 1;
when the central control unit judges that each sensitivity F is adjusted by using the beta j, wherein j =1,2, each adjusted sensitivity is marked as F ', wherein F' = beta j multiplied by F, the central control unit controls the mechanical arm to continue to travel according to the adjusted sensitivity of each gear.
Further, a first preset total surgical path length A1, a second preset total surgical path length A2, a first remote mechanical arm action amplitude magnification factor adjustment coefficient alpha 1 and a first remote mechanical arm action amplitude magnification factor adjustment coefficient alpha 2 are arranged in the central control unit, wherein A1 is less than A2,1 is less than alpha 1 and less than alpha 2 and less than or equal to 10, when the central control unit adjusts the mechanical arm action amplitude magnification factor according to the total surgical path length A0 planned by the surgery, if A0 is less than or equal to A1, the central control unit judges that alpha 2 is used for adjusting the action amplitude magnification factor M of the mechanical arm;
if A1 is larger than A0 and is smaller than or equal to A2, the central control unit judges that alpha 1 is used for adjusting the action amplitude magnification M of the mechanical arm;
if A0 is larger than A2, the central control unit judges that the action amplitude magnification ratio M of the mechanical arm does not need to be adjusted;
when the central control unit judges that the action amplitude magnification ratio M of the mechanical arm is adjusted by using α i, wherein i =1,2, the magnification ratio of the adjusted mechanical arm is recorded as M ', and M' = M × α i is set; the magnification adjustment process of well accuse unit to the arm is according to the doctor demand, if the doctor sets up the operation process and need not to adjust the magnification of arm then well accuse unit need not to adjust the action range magnification of arm.
Compared with the prior art, the medical operation system has the advantages that a doctor formulates an operation scheme according to a diagnosis result of a patient disease, the central control unit compares the total length of the operation path with the total length of a preset operation path and selects a corresponding processing mode according to the comparison result, the central control unit compares the radius of a circle where the single curve motion path is located with the radius of a circle where the preset curve motion path is located in the actual operation process according to division of the operation path in the data storage unit, and compares deflection angles between the operation paths with deflection angles between the preset motion paths, and selects the corresponding processing mode according to the comparison result. The accuracy and the reliability of the remote operation are improved while the network delay in the remote operation process is avoided or the operation path is deviated due to the emergency of a doctor; the positioning precision of the operation is effectively improved, the operation damage is reduced, and the efficiency and the success rate of the operation are further improved.
Furthermore, the preset motion path is divided into the curvilinear motion path and the linear motion path, and the curvilinear motion path is divided into one or more sections of the primary curvilinear motion path and the secondary curvilinear motion path according to the deflection angle of each curvilinear motion path, so that different operation paths can be accurately divided, the central control unit can conveniently control the matching condition between the mechanical arm at the doctor end and the operation arm at the patient end in the remote operation process, the occurrence of the condition of path deviation in the operation process is avoided, the accuracy of the remote operation is improved, and the reliability of the remote operation is further improved.
Furthermore, the central control unit compares the offset angle of the preset linear motion path and the actual linear motion path with the standard offset angle and selects a corresponding processing mode according to the comparison result, so that the operation in the remote operation process can be accurately limited, and the condition that the misoperation of the operation arm at the patient end is driven by the misoperation of the mechanical arm at the doctor end in the actual operation process so as to damage the patient is avoided.
Furthermore, the deflection direction between the actual motion paths is compared with the deflection direction of the preset motion path to determine whether the deflection direction is correct, so that the condition that the path direction is wrong due to the fact that the mechanical arm at the doctor end shakes or the mechanical arm fails in direction in the actual operation process can be avoided.
Furthermore, the sensitivity of the mechanical arm is adjusted within a certain range through the central control unit according to the offset or deflection angle of the linear motion path or the curved motion path, the sensitivity of the mechanical arm can be adjusted within an allowable range through the offset or deflection angle so as to ensure that the motion path of the subsequent mechanical arm tends to a standard path, and the motion precision of the mechanical arm and the operation arm in the remote operation process can be improved so as to further improve the safety and reliability of the remote operation.
Furthermore, the invention can set the magnification of the mechanical arm action according to the operation condition, namely the doctor end mechanical arm action is greatly changed to control the small-amplitude change of the operation arm action, the action amplitude magnification can be amplified aiming at the operation with high precision so as to facilitate the operation of the doctor, and the success rate of the operation can be improved while the safety of the remote operation is ensured.
Drawings
FIG. 1 is a schematic diagram of a data analysis and remote control based surgical operation and monitoring analysis system according to the present invention;
FIG. 2 is a schematic view of a surgical path classification structure according to the present invention;
FIG. 3 is a schematic diagram of the structure of each gear of the sensitivity control assembly according to the present invention;
fig. 4 is a schematic structural diagram of each surgical path and the sensitivity gear in the present invention.
Detailed Description
In order that the objects and advantages of the invention will be more clearly understood, the invention is further described below with reference to examples; it should be understood that the specific embodiments described herein are merely illustrative of the invention and do not delimit the invention.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principles of the present invention, and do not limit the scope of the present invention.
It should be noted that in the description of the present invention, the terms of direction or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Please refer to fig. 1, fig. 2, fig. 3 and fig. 4, which are schematic structural diagrams of a surgical operation and monitoring analysis system based on data analysis and remote control according to the present invention, a surgical path classification structural diagram according to the present invention, a structural diagram of each gear of the sensitivity control assembly according to the present invention, and structural diagrams of each surgical path and the sensitivity gear according to the present invention;
the invention relates to a surgical operation and monitoring analysis system based on data analysis and remote control, which comprises:
the data storage unit is used for storing a surgical plan made by a doctor according to a diagnosis result of a patient disease and relevant data in a surgical process; the related data comprises a preset motion path, an actual motion path, motion path types and total motion path length of the surgical instrument;
the central control unit is connected with the data storage unit and used for selecting a corresponding remote mechanical arm magnification adjusting coefficient according to the total length of the motion path to adjust the magnification of the action amplitude of the mechanical arm; the central control unit divides a preset motion path of the surgical instrument in the data storage unit to obtain a plurality of paths and judges whether to control the surgical arm at the patient end and the mechanical arm at the doctor end to move together with corresponding sensitivity according to the deviation of each motion path and the corresponding actual motion path in the actual surgical process;
the image acquisition unit is connected with the central control unit and is used for acquiring image information in the surgical process of the patient end in real time and transmitting the acquired image information to the image display of the doctor end;
and the sensitivity unit is connected with the central control unit and is used for adjusting the sensitivity of the surgical instrument moving in all directions in the surgical process.
According to the method, a doctor makes an operation scheme according to a diagnosis result of a patient disease, a central control unit compares the total length of an operation path with the total length of a preset operation path and selects a corresponding processing mode according to a comparison result, the central control unit compares the radius of a circle of a single curvilinear motion path with the radius of a circle of the preset curvilinear motion path in the actual operation process according to division of the operation path in a data storage unit and the deflection angle between each operation path with the deflection angle between the preset motion paths, and selects the corresponding processing mode according to the comparison result. The accuracy and the reliability of the remote operation are improved while the network delay in the remote operation process is avoided or the operation path is deviated due to the emergency of a doctor; the positioning precision of the operation is effectively improved, the operation damage is reduced, and the efficiency and the success rate of the operation are further improved.
Specifically, the central control unit divides a preset motion path of the surgical instrument in the data storage unit into a preset curvilinear motion path and a preset linear motion path, and for a single preset curvilinear motion path, the preset curvilinear motion path is an arc line located in a single circle; the central control unit is used for respectively setting corresponding preset deviation standards aiming at all preset motion paths, the preset deviation standards comprise preset deflection angles and preset arc radiuses for a single preset curve motion path, the preset deviation standards comprise preset deviation angles for a single preset straight line motion path, and the central control unit is used for respectively detecting actual motion paths of the mechanical arm when the mechanical arm moves according to the preset curve motion path and sequentially comparing all the actual motion paths with the corresponding preset motion paths so as to judge whether the actual motion paths with the tracks not conforming to the standards exist.
According to the invention, the preset motion path is divided into the curvilinear motion path and the linear motion path, and the curvilinear motion path is divided into one or more sections of the first-stage curvilinear motion path and the second-stage curvilinear motion path according to the deflection angle of each curvilinear motion path, so that different operation paths can be accurately divided, a central control unit can conveniently control the matching condition between a doctor end mechanical arm and a patient end operation arm in the remote operation process, the condition of path deviation in the operation process is avoided, the accuracy of the remote operation is improved, and the reliability of the remote operation is further improved.
Specifically, the device is characterized in that a sensitivity control assembly is arranged in the sensitivity unit, the gears of the sensitivity control assembly comprise first-gear sensitivity, second-gear sensitivity and third-gear sensitivity, a preset deflection angle theta 0 is arranged in the central control unit, and the deflection angle is an included angle between a tangent line at the starting point of the curvilinear motion path and a tangent line at the final point of the curvilinear motion path; the central control unit controls the sensitivity control assembly to set the sensitivity of the mechanical arm to be a first-gear sensitivity when judging that the path needing to be traveled by the surgical arm is a linear motion path, controls the sensitivity control assembly to set the sensitivity of the mechanical arm to be a second-gear sensitivity when judging that the path needing to be traveled by the surgical arm is a curved motion path and the deflection angle theta of the motion path is less than or equal to theta 0, and controls the sensitivity control assembly to set the sensitivity of the mechanical arm to be a third-gear sensitivity when judging that the path needing to be traveled by the surgical arm is a curved motion path and the deflection angle theta of the motion path is greater than theta 0.
Specifically, a first preset linear motion path offset angle B1 and a second preset linear motion path offset angle B2 are arranged in the central control unit, wherein B1 is smaller than B2, the central control unit is used for acquiring an offset angle B between an actual linear motion path and a preset linear motion path in the image information acquired by the image acquisition unit,
if B is less than or equal to B1, the central control unit judges that the actual linear motion path meets the standard, and the mechanical arm can continue to move according to the preset linear motion path;
if B1 is larger than B and is smaller than or equal to B2, the central control unit judges that the actual linear motion path does not meet the standard, and the central control unit adjusts the first-gear sensitivity to enable the offset angle of each actual motion path of the surgical arm to meet a preset value;
if B1 is larger than B2, the central control unit judges that the actual linear motion path makes mistakes in the advancing process, controls the operation arm to stop moving and prompts the deviation between the current actual motion path and the preset linear motion path of the doctor end.
According to the invention, the central control unit compares the offset angle of the preset linear motion path and the actual linear motion path with the standard offset angle, and selects a corresponding processing mode according to the comparison result, so that the operation in the remote operation process can be accurately limited, and the condition that the operation error of the operation arm at the patient end is driven by the operation error of the mechanical arm at the doctor end in the actual operation process so as to damage the patient is avoided.
Specifically, the first-gear sensitivity of the sensitivity control assembly is 1.8mm; the second-gear sensitivity is 2.2mm; the sensitivity of the third gear is 3.5mm, and the sensitivity of each gear is the offset distance between the actual motion path and the preset motion path of the cooperative work of the mechanical arm and the operation arm; in the actual operation process, the minimum absolute distance between the mechanical arm and the preset motion path in each time node is detected in real time, and if the minimum absolute distance is lower than the sensitivity of the corresponding gear, the central control unit maintains the current point position of the operation arm at the corresponding position in the preset path of the operation arm.
Specifically, a first standard circular arc radius difference value delta R1 and a second standard circular arc radius difference value delta R2 are arranged in the central control unit, wherein delta R1 is less than delta R2, when the image acquisition unit acquires the curvilinear motion path in real time, the central control unit compares the circular arc radius R of each actual curvilinear motion path with the difference delta R of the circular arc radius R of a preset curvilinear motion path to set delta R = | R-R |,
if delta R is less than delta R1, the central control unit judges that the arc radius of the actual curvilinear motion path meets the standard, and the mechanical arm can continue to move according to a preset linear or curvilinear motion path; the central control unit detects that the deflection direction between the actual motion paths is compared with the deflection direction between the preset motion paths to determine whether the deflection direction between the actual motion paths meets the standard or not;
if the delta R1 is less than the delta R and less than or equal to the delta R2, the central control unit judges that the arc radius of the actual curvilinear motion path is not in a standard range, and the central control unit adjusts the sensitivity of the mechanical arm so as to enable the deflection angle of each actual motion path of the surgical arm to accord with a preset value;
if delta R is larger than delta R2, the central control unit judges that the arc radius advancing process of the actual curve motion path has errors, controls the operation arm to stop moving, and prompts the deviation between each actual motion path and each preset motion path at the doctor end.
Specifically, the central control unit detects the deflection direction between each actual motion path and the deflection direction between each preset motion path to compare so as to determine whether the deflection direction between the actual motion paths meets the standard or not,
if the deflection direction between the actual motion paths is not consistent with the deflection direction between the preset motion paths, the central control unit controls the surgical arm to stop moving and prompts a doctor end that the deflection direction of the current motion path of the mechanical arm is wrong;
if the deflection direction between the actual motion paths is consistent with the deflection direction between the preset paths, the central control unit judges that the deflection direction is accurate, and the central control unit calculates whether the difference value between the deflection angle between the actual motion paths and the deflection angle between the preset motion paths is in the standard deflection angle difference value range or not so as to judge whether the conversion between the operation paths meets the standard or not.
The invention determines whether the deflection direction is correct or not by comparing the deflection direction between the actual motion paths with the deflection direction of the preset motion path, and can avoid the path direction error caused by the shake of a mechanical arm at a doctor end or the direction error of the mechanical arm fault in the actual operation process.
Specifically, a standard deflection angle difference delta alpha 0 is arranged in the central control unit, and the central control unit calculates whether the difference delta alpha of the deflection angle alpha 1 between each actual motion path and the deflection angle alpha 2 between each preset motion path is in a standard deflection angle difference range or not so as to determine whether the conversion between each operation path meets the standard or not, wherein the delta alpha is not larger than | alpha 1-alpha 2|,
if the delta alpha is less than or equal to the delta alpha 1, the central control unit judges that the deflection angle between the actual paths meets the standard, and the mechanical arm can continue to move according to a preset motion path;
if delta alpha is larger than delta alpha 1, the central control unit judges that the deflection angle between the actual motion paths is not in the standard range, the central control unit controls the operation arm to stop moving, and prompts the deviation between the current actual motion paths of the doctor end.
Specifically, a first sensitivity adjustment coefficient beta 1 and a second sensitivity adjustment coefficient beta 2 are arranged in the central control unit, wherein beta 1 is more than 0 and beta 2 is more than 1, when the central control unit judges and adjusts the sensitivity of each gear so as to lead the deflection angle of each actual motion path of the operation arm to accord with a preset value,
if the motion path is a curvilinear motion path, the central control unit judges that the sensitivity of the second gear or the third gear is adjusted by using beta 2;
if the motion path is a linear motion path, the central control unit judges that the sensitivity of the first gear is adjusted by using beta 1;
when the central control unit judges that each sensitivity F is adjusted by using the beta j, wherein j =1,2, each adjusted sensitivity is marked as F ', wherein F' = beta j multiplied by F, the central control unit controls the mechanical arm to continue to travel according to the adjusted sensitivity of each gear.
According to the invention, the sensitivity of the mechanical arm is adjusted within a certain range through the central control unit according to the offset or deflection angle of the linear motion path or the curved motion path, the sensitivity of the mechanical arm can be adjusted within an allowable range through the offset or deflection angle so as to ensure that the motion path of the subsequent mechanical arm tends to a standard path, and the motion precision of the mechanical arm and the operation arm in the remote operation process can be improved so as to further improve the safety and reliability of the remote operation.
Specifically, a first preset total surgical path length A1, a second preset total surgical path length A2, a first remote mechanical arm action amplitude magnification factor adjustment coefficient alpha 1 and a first remote mechanical arm action amplitude magnification factor adjustment coefficient alpha 2 are arranged in the central control unit, wherein A1 is larger than A2,1 is larger than alpha 1 and is smaller than alpha 2 and is smaller than or equal to 10, when the central control unit adjusts the mechanical arm action amplitude magnification factor according to the total surgical path length A0 planned by a surgery, if A0 is smaller than or equal to A1, the central control unit judges that alpha 2 is used for adjusting the action amplitude magnification factor M of the mechanical arm;
if A1 is larger than A0 and is smaller than or equal to A2, the central control unit judges that alpha 1 is used for adjusting the action amplitude magnification ratio M of the mechanical arm;
if A0 is larger than A2, the central control unit judges that the action amplitude magnification ratio M of the mechanical arm does not need to be adjusted;
when the central control unit judges that the action amplitude magnification ratio M of the mechanical arm is adjusted by using α i, wherein i =1,2, the magnification ratio of the adjusted mechanical arm is recorded as M ', and M' = M × α i is set; the central control unit adjusts the magnification of the mechanical arm according to the requirements of a doctor in the magnification adjusting process of the mechanical arm, and the central control unit does not need to adjust the magnification of the action amplitude of the mechanical arm if the doctor sets the magnification of the mechanical arm in the operation process.
The invention can set the magnification of the mechanical arm action according to the operation condition, namely the action of the mechanical arm at the doctor end is greatly changed to control the small-amplitude change of the operation arm movement, the action amplitude magnification can be amplified aiming at the operation with high precision so as to facilitate the operation of the doctor, and the success rate of the operation can be improved while the safety of the remote operation is ensured.
Example (b):
a doctor plans a path of the operation, wherein the path comprises a linear motion path and a curvilinear motion path, the total length of the linear motion path is 0.6cm, the radius of a circle where the curvilinear motion path 1 is located is 2.1cm, and the radius of the curvilinear motion path 2 is 1.6cm; the doctor does not select to set the amplification factor of the action amplitude of the mechanical arm, wherein A1=1.5cm, A2=2cm, and the total length of the whole path of the operation is greater than A2;
wherein, B1=1 °, B2=1.8 °, the offset angle between the actual linear motion path and the preset linear motion path is 1.15 °, and the central control unit adjusts the sensitivity F of the first-gear sensitivity so as to make the offset angle of each actual motion path of the surgical arm accord with the preset value;
the central control unit adjusts the sensitivity F of the first gear to be =1.35mm, and judges that the adjustment of the sensitivity of the first gear is stopped and controls the mechanical arm to continue to move;
the difference value between the actual curvilinear motion path and the preset motion path of the curvilinear motion path 1 with the angle of delta alpha 0=1.6 degrees is 0.1cm, and the central control unit judges that the standard is met; the central control unit detects that the deflection direction between the actual curvilinear motion path 1 and the actual curvilinear motion path 2 is consistent with the deflection direction of the preset motion path, the deflection angle difference value is 1.22 degrees, and the central control unit judges that the standard is met; the difference value between the actual curvilinear motion path of the curvilinear motion path 2 and the preset motion path is 0.19cm, and the central control unit judges that the standard is met.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention; various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. Operation and control analytic system based on data analysis and remote control, its characterized in that includes:
the data storage unit is used for storing an operation scheme made by a doctor according to a diagnosis result of a disease of a patient and relevant data in an operation process; the related data comprises a preset motion path, an actual motion path, motion path types and total motion path length of the surgical instrument;
the central control unit is connected with the data storage unit and used for selecting a corresponding remote mechanical arm magnification adjusting coefficient according to the total length of the motion path to adjust the magnification of the action amplitude of the mechanical arm; the central control unit divides a preset motion path of the surgical instrument in the data storage unit to obtain a plurality of paths, and judges whether to control the surgical arm at the patient end and the mechanical arm at the doctor end to move together with corresponding sensitivity according to the deviation of each motion path and the corresponding actual motion path in the actual surgical process;
the image acquisition unit is connected with the central control unit and is used for acquiring image information in the surgical process of the patient end in real time and transmitting the acquired image information to the image display of the doctor end;
and the sensitivity unit is connected with the central control unit and is used for adjusting the sensitivity of the surgical instrument moving in all directions in the surgical process.
2. The system for surgical operation and monitoring analysis based on data analysis and remote control according to claim 1, wherein the central control unit divides the preset movement path of the surgical instrument in the data storage unit into a preset curved movement path and a preset linear movement path, and for a single preset curved movement path, the preset curved movement path is an arc line in a single circle; the central control unit is used for respectively setting corresponding preset deviation standards aiming at all preset motion paths, the preset deviation standards comprise preset deflection angles and preset arc radiuses for a single preset curve motion path, the preset deviation standards comprise preset deviation angles for a single preset straight line motion path, and the central control unit is used for respectively detecting actual motion paths of the mechanical arm when the mechanical arm moves according to the preset curve motion path and sequentially comparing all the actual motion paths with the corresponding preset motion paths so as to judge whether the actual motion paths with the tracks not conforming to the standards exist.
3. The system for operation, monitoring and analysis based on data analysis and remote control according to claim 2, wherein a sensitivity control assembly is arranged in the sensitivity unit, the gears of the sensitivity control assembly comprise a first-gear sensitivity, a second-gear sensitivity and a third-gear sensitivity, a preset deflection angle θ 0 is arranged in the central control unit, and the deflection angle is an included angle between a tangent line at the starting point of the curvilinear motion path and a tangent line at the end point of the curvilinear motion path; the central control unit controls the sensitivity control assembly to set the sensitivity of the mechanical arm to be a first-gear sensitivity when judging that the path needing to be traveled by the surgical arm is a linear motion path, controls the sensitivity control assembly to set the sensitivity of the mechanical arm to be a second-gear sensitivity when judging that the path needing to be traveled by the surgical arm is a curved motion path and the deflection angle theta of the motion path is less than or equal to theta 0, and controls the sensitivity control assembly to set the sensitivity of the mechanical arm to be a third-gear sensitivity when judging that the path needing to be traveled by the surgical arm is a curved motion path and the deflection angle theta of the motion path is greater than theta 0.
4. The system for operation, monitoring and analysis based on data analysis and remote control of claim 3, wherein the central control unit is provided with a first preset linear motion path offset angle B1 and a second preset linear motion path offset angle B2, wherein B1 is smaller than B2, the central control unit is configured to, according to the offset angle B between the actual linear motion path and the preset linear motion path in the image information collected by the image collection unit,
if B is less than or equal to B1, the central control unit judges that the actual linear motion path meets the standard, and the mechanical arm can continue to move according to the preset linear motion path;
if B1 is larger than B and is smaller than or equal to B2, the central control unit judges that the actual linear motion path does not meet the standard, and the central control unit adjusts the first-gear sensitivity to enable the offset angle of each actual motion path of the surgical arm to meet a preset value;
if B1 is larger than B2, the central control unit judges that the actual linear motion path makes mistakes in the advancing process, controls the operation arm to stop moving and prompts the deviation between the current actual motion path and the preset linear motion path of the doctor end.
5. The system for surgical manipulation and monitoring and analysis based on data analysis and remote control of claim 3 wherein the sensitivity control module has a first sensitivity of 1.8mm; the second-gear sensitivity is 2.2mm; the sensitivity of the third gear is 3.5mm, and the sensitivity of each gear is the offset distance between the actual motion path of the cooperative work of the mechanical arm and the operation arm and the preset motion path; in the actual operation process, the minimum absolute distance between the mechanical arm and the preset motion path in each time node is detected in real time, and if the minimum absolute distance is lower than the sensitivity of the corresponding gear, the central control unit maintains the current point position of the operation arm at the corresponding position in the preset path of the operation arm.
6. The system for operation, monitoring and analysis based on data analysis and remote control as claimed in claim 1, wherein the central control unit is provided therein with a first standard arc radius difference Δ R1 and a second standard arc radius difference Δ R2, where Δ R1 & ltΔ R2, when the image acquisition unit acquires the curvilinear motion paths in real time, the central control unit compares the arc radius R of each actual curvilinear motion path with the arc radius R of the preset curvilinear motion path to set Δ R = | R-R | according to the difference Δ R between the arc radius R of each actual curvilinear motion path and the arc radius R of the preset curvilinear motion path,
if delta R is less than delta R1, the central control unit judges that the arc radius of the actual curvilinear motion path meets the standard, and the mechanical arm can continue to move according to a preset linear or curvilinear motion path; the central control unit detects that the deflection direction between the actual motion paths is compared with the deflection direction between the preset motion paths to determine whether the deflection direction between the actual motion paths meets the standard or not;
if the delta R1 is less than the delta R and less than or equal to the delta R2, the central control unit judges that the arc radius of the actual curvilinear motion path is not in a standard range, and the central control unit adjusts the sensitivity of the mechanical arm so as to enable the deflection angle of each actual motion path of the surgical arm to accord with a preset value;
if delta R is larger than delta R2, the central control unit judges that the arc radius advancing process of the actual curve motion path is wrong, the central control unit controls the operation arm to stop moving, and the deviation between each current actual motion path and each preset motion path at the doctor end is prompted.
7. The system for surgical operation and monitoring analysis based on data analysis and remote control of claim 6, wherein the central control unit detects the deviation direction between each actual motion path and each preset motion path to compare with each other to determine whether the deviation direction between the actual motion paths meets the standard,
if the deflection direction between the actual motion paths is not consistent with the deflection direction between the preset motion paths, the central control unit controls the surgical arm to stop moving and prompts a doctor end that the deflection direction of the current motion path of the mechanical arm is wrong;
if the deflection direction between the actual motion paths is consistent with the deflection direction between the preset paths, the central control unit judges that the deflection direction is accurate, and the central control unit calculates whether the difference value between the deflection angle between the actual motion paths and the deflection angle between the preset motion paths is in the standard deflection angle difference value range or not so as to judge whether the conversion between the operation paths meets the standard or not.
8. The system for surgical operation and monitoring analysis based on data analysis and remote control of claim 7, wherein a standard deviation angle difference Δ α 0 is provided in the central control unit, and the central control unit calculates whether the difference Δ α between the deviation angle α 1 between each actual motion path and the deviation angle α 2 between each preset motion path is within the standard deviation angle difference range to determine whether the conversion between each surgical path meets the standard, wherein Δ α = | α 1- α 2| and,
if the delta alpha is less than or equal to the delta alpha 1, the central control unit judges that the deflection angle between the actual paths meets the standard, and the mechanical arm can continue to move according to the preset motion path;
if delta alpha is larger than delta alpha 1, the central control unit judges that the deflection angle between the actual motion paths is not in the standard range, controls the operation arm to stop moving and prompts the deviation between the actual motion paths at the doctor end.
9. The system for surgical operation, monitoring and analysis based on data analysis and remote control of claim 6, wherein the central control unit is provided with a first sensitivity adjustment factor β 1 and a second sensitivity adjustment factor β 2, wherein β 1 is greater than 0 and β 2 is less than 1, and when the central control unit determines to adjust the sensitivity of each gear so that the deflection angle of each actual motion path of the surgical arm meets a predetermined value,
if the motion path is a curvilinear motion path, the central control unit judges that the sensitivity of the second gear or the third gear is adjusted by using beta 2;
if the motion path is a linear motion path, the central control unit judges that the sensitivity of the first gear is adjusted by using beta 1;
when the central control unit judges that each sensitivity F is adjusted by using the beta j, wherein j =1,2, each adjusted sensitivity is marked as F ', wherein F' = beta j multiplied by F, the central control unit controls the mechanical arm to continue to travel according to the adjusted sensitivity of each gear.
10. The system for operation, monitoring and analysis based on data analysis and remote control as claimed in claim 1, wherein a first preset total length of operation path A1, a second total length of operation path A2, a first remote mechanical arm action amplitude magnification factor adjustment coefficient α 1 and a first remote mechanical arm action amplitude magnification factor adjustment coefficient α 2 are provided in the central control unit, where A1 is greater than A2,1 is greater than α 1 and is less than α 2 and less than or equal to 10, and when the central control unit adjusts the mechanical arm action amplitude magnification factor according to the total length of operation path A0 planned by the operation, if A0 is less than or equal to A1, the central control unit determines to adjust the action amplitude magnification factor M of the mechanical arm by using α 2;
if A1 is larger than A0 and is smaller than or equal to A2, the central control unit judges that alpha 1 is used for adjusting the action amplitude magnification ratio M of the mechanical arm;
if A0 is larger than A2, the central control unit judges that the action amplitude magnification ratio M of the mechanical arm does not need to be adjusted;
when the central control unit determines that the action amplitude magnification ratio M of the mechanical arm is adjusted by using α i, wherein i =1,2, the magnification ratio of the adjusted mechanical arm is recorded as M ', and M' = M × α i is set; the central control unit adjusts the magnification of the mechanical arm according to the requirements of a doctor in the magnification adjusting process of the mechanical arm, and the central control unit does not need to adjust the magnification of the action amplitude of the mechanical arm if the doctor sets the magnification of the mechanical arm in the operation process.
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