CN115429581A - Facial state recording instrument for severe bedridden patient - Google Patents

Facial state recording instrument for severe bedridden patient Download PDF

Info

Publication number
CN115429581A
CN115429581A CN202210922132.4A CN202210922132A CN115429581A CN 115429581 A CN115429581 A CN 115429581A CN 202210922132 A CN202210922132 A CN 202210922132A CN 115429581 A CN115429581 A CN 115429581A
Authority
CN
China
Prior art keywords
facial
coordinate system
face
patient
camera
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202210922132.4A
Other languages
Chinese (zh)
Inventor
张帅
欧阳波
丁帅
杨善林
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hefei University of Technology
Original Assignee
Hefei University of Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hefei University of Technology filed Critical Hefei University of Technology
Priority to CN202210922132.4A priority Critical patent/CN115429581A/en
Publication of CN115429581A publication Critical patent/CN115429581A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/05—Parts, details or accessories of beds
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/043—Allowing translations
    • F16M11/045—Allowing translations adapted to left-right translation movement
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/043—Allowing translations
    • F16M11/046—Allowing translations adapted to upward-downward translation movement
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/043—Allowing translations
    • F16M11/048—Allowing translations adapted to forward-backward translation movement
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2210/00—Devices for specific treatment or diagnosis
    • A61G2210/30—Devices for specific treatment or diagnosis for intensive care

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Nursing (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)

Abstract

The invention provides a facial state recording instrument for a severe bedridden patient, and relates to the technical field of facial tracking. According to the invention, a camera assembly is used for collecting facial images, the control assembly is matched to obtain facial position information and facial posture information of the face of a patient under a camera coordinate system, when the face of the patient moves, the control assembly is used for determining facial displacement information of the face of the patient under a sickbed coordinate system aiming at translational motion, and further the first driving assembly is controlled to adjust the position of the hemispherical transparent shell, so that the head of the patient is positioned in the center of a sphere of the hemispherical transparent shell; meanwhile, the face deflection information of the face of the patient under the spherical center coordinate system is determined through the control assembly according to the change of the head posture, and then the second driving assembly is controlled to adjust the position of the camera assembly on the hemispherical transparent shell, so that the camera assembly is located right in front of the face of the patient, the face of the patient is tracked, and the occupied space of the equipment can be greatly reduced.

Description

Facial state recording instrument for severe bedridden patient
Technical Field
The invention relates to the technical field of face tracking, in particular to a facial state recording instrument for a severe bedridden patient.
Background
The method for tracking the face of the patient in a face tracking mode mainly comprises the steps of collecting facial expressions of the patient, and judging the state of the patient by learning facial features of the patient through a deep learning-based method.
For a bedridden patient, there are three main ways to collect facial information:
1. the fixed camera at the tail end of the robot is used for acquiring facial information, but the robot is huge in size and large in occupied space, various precise medical instruments are removed from a ward, the space reserved for the robot is limited, and larger burden is brought to the ward with narrow space.
2. Facial information is collected by the aid of the camera fixed to the patient bedside, but facial movement of the patient caused by head movement of the patient due to the fact that the camera cannot move can cause the camera to lose the face, and accordingly facial collection of the patient fails.
3. Facial information is acquired by using a camera fixed at the tail end of the mechanical arm, but the head movement amplitude of a patient possibly exists when the patient feels painful, so that the movement amplitude of the mechanical arm is large, and a larger working space is required to meet the movement of the mechanical arm. In the process of the movement of the mechanical arm, planning must be done, that is, the movement track of the mechanical arm is as palm as a finger, the working space is reserved, or the mechanical arm can touch a medical instrument, which brings huge loss. In addition, because the weight of arm self, can cause certain influence to the stability of sick bed when installing on the sick bed, and when the patient was bedridden, the arm was inevitable in the top of patient's head, if the arm damages, falls to probably injure the patient by crashing and cause twice injury in the influence of arm self gravity.
Therefore, there is a need for a face tracking device that can accommodate bedridden patients and small spaces.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a recording instrument for the face state of a serious bedridden patient, and solves the problem that the existing face tracking equipment occupies a large space.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme:
a critical intensive care bedridden patient facial condition recording apparatus comprising:
the diameter of the hemispherical transparent shell is not less than the width of the sickbed and is positioned above the sickbed surface;
the camera component is used for acquiring a facial image of a patient, and the shooting direction of the camera component points to the center of the hemisphere of the hemispherical transparent shell;
the first driving component is used for driving the hemispherical transparent shell to move relative to the sickbed;
the second driving assembly is used for driving the camera assembly to move on the outer surface of the hemispherical transparent shell;
the control component is used for calculating face position information and face posture information of the face of the patient under a camera coordinate system based on the face image;
the system is also used for acquiring facial displacement information under a sickbed coordinate system based on facial position information under camera coordinate systems at different moments; controlling the first driving component to act based on the facial displacement information under the sickbed coordinate system so as to enable the head of the patient to be positioned at the spherical center of the hemispherical transparent shell;
the face deflection control system is also used for acquiring face deflection information under a sphere center coordinate system based on face posture information under camera coordinate systems at different moments; and controlling the second driving assembly to act based on the facial deflection information under the spherical center coordinate system so as to enable the camera assembly to be positioned right in front of the face of the patient.
Further, the first driving assembly includes:
the first connecting pieces are arranged around the sickbed in a surrounding manner, and each connecting piece is fixedly connected with the hemispherical transparent shell;
the x-axis direction adjusting unit is used for driving each first connecting piece to synchronously translate along the x-axis direction of the sickbed coordinate system;
the y-axis direction adjusting unit is used for driving each first connecting piece to synchronously translate along the y-axis direction of the sickbed coordinate system;
and the z-axis direction adjusting unit is used for driving each first connecting piece to synchronously translate and move along the z-axis direction of the sickbed coordinate system.
Further, the second driving assembly includes:
the camera assembly is fixedly arranged on the second connecting piece;
the traction motors are respectively arranged on the first connecting pieces and are connected with the second connecting pieces through traction ropes, so that the camera assembly moves on the outer surface of the hemispherical transparent shell under the combined action of the traction ropes.
Furthermore, the number of the first connecting pieces is four, the first connecting pieces are fixedly connected to the edge of the opening at the bottom end of the hemispherical transparent shell, and the included angle between every two adjacent first connecting pieces is 90 degrees.
Further, face position information P of the face of the patient in a camera coordinate system is calculated based on the face image c The method comprises the following steps:
facial feature points are detected by using the midiapipe algorithm, and the position of the nose tip is used as the position of the face under the camera coordinate system.
Further, the face position information P based on the camera coordinate system at different time points c Obtaining a coordinate system T of a hospital bed b Face displacement information of:
obtaining face position information under the coordinate system of the camera at the ith moment
Figure BDA0003778184490000031
And facial position information in camera coordinate system at time j
Figure BDA0003778184490000032
Face position information using coordinate system transformation
Figure BDA0003778184490000033
And
Figure BDA0003778184490000034
converted into a coordinate system T of the patient's bed b Facial position information
Figure BDA0003778184490000035
And
Figure BDA0003778184490000036
facial position information based on hospital bed coordinate system Tb
Figure BDA0003778184490000037
And
Figure BDA0003778184490000038
calculating to obtain a coordinate system T of the sickbed b Facial displacement information
Figure BDA0003778184490000039
Further, controlling the action of the first driving component based on the facial displacement information under the coordinate system of the hospital bed comprises:
and respectively taking the components of the facial displacement information in the x, y and z axes of the sickbed coordinate system as the displacement of the corresponding direction adjusting unit.
Further, acquiring facial deflection information in a sphere center coordinate system based on facial pose information in camera coordinate systems at different times includes:
obtaining face posture information under the coordinate system of the camera at the ith moment
Figure BDA0003778184490000041
And facial pose information under camera coordinate system at time j
Figure BDA0003778184490000042
Transforming facial pose information using coordinate systems
Figure BDA0003778184490000043
And
Figure BDA0003778184490000044
converted into a spherical coordinate system T o Facial pose information of lower
Figure BDA0003778184490000045
And
Figure BDA0003778184490000046
based on the sphere center coordinate system T o Facial pose information of lower
Figure BDA0003778184490000047
And
Figure BDA0003778184490000048
calculating to obtain a sphere center coordinate system T o Facial deflection information of lower
Figure BDA0003778184490000049
Further, the action of the second driving component is controlled based on the face deflection information under the sphere center coordinate system, and the action comprises the following steps:
obtaining displacement information of the camera assembly on the outer surface of the hemispherical transparent shell based on the face deflection information under the spherical center coordinate system and the radius of the hemispherical transparent shell;
and taking the component of the displacement information of the camera assembly on the outer surface of the hemispherical transparent shell in each hauling rope direction as the displacement of the hauling rope of the corresponding hauling motor.
(III) advantageous effects
The invention provides a facial state recording instrument for a severe bedridden patient. Compared with the prior art, the method has the following beneficial effects:
1) According to the invention, a camera assembly is used for collecting facial images, the control assembly is matched to obtain facial position information and facial posture information of the face of a patient under a camera coordinate system, when the face of the patient moves, the control assembly is used for determining facial displacement information of the face of the patient under a sickbed coordinate system aiming at translational motion, and further the first driving assembly is controlled to adjust the position of the hemispherical transparent shell, so that the head of the patient is positioned in the center of a sphere of the hemispherical transparent shell; simultaneously, to the change of head gesture, confirm patient's face deflection information under the centre of sphere coordinate system through the control assembly, and then control second drive assembly adjustment camera subassembly position on hemisphere type transparent shell, make the camera subassembly is located patient's face dead ahead, realizes the pursuit to patient's face, on this basis, compares current arm structure, and equipment occupation space can reduce by a wide margin, is fit for using in this kind of little space of intensive care unit more.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic view of a facial condition recording apparatus for a critically ill bedridden patient according to an embodiment of the present invention;
FIG. 2 is a bottom view of the hemispherical transparent shell, the first connecting member, and the traction motor according to the embodiment of the present invention;
FIG. 3 is a schematic representation of various coordinate systems of a camera assembly positioned directly in front of a patient's face in an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are clearly and completely described, and it is obvious that the described embodiments are a part of the embodiments of the present invention, but not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
The embodiment of the application solves the problem that the existing face tracking equipment occupies a large space by providing a facial state recording instrument for severe bedridden patients.
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
Example 1:
the invention provides a facial state recording instrument for a severe bedridden patient, which comprises:
the diameter of the hemispherical transparent shell is not less than the width of the sickbed and is positioned above the sickbed surface;
the camera assembly is used for acquiring a facial image of a patient, and the shooting direction of the camera assembly points to the center of the sphere of the hemispherical transparent shell;
the first driving component is used for driving the hemispherical transparent shell to move relative to the sickbed;
the second driving assembly is used for driving the camera assembly to move on the outer surface of the hemispherical transparent shell;
the control component is used for calculating face position information and face posture information of the face of the patient under a camera coordinate system based on the face image;
the system is also used for acquiring facial displacement information under a sickbed coordinate system based on facial position information under camera coordinate systems at different moments; controlling the first driving component to act based on the facial displacement information under the sickbed coordinate system so as to enable the head of the patient to be positioned at the spherical center of the hemispherical transparent shell;
the face deflection control system is also used for acquiring face deflection information under a sphere center coordinate system based on face posture information under camera coordinate systems at different moments; and controlling the second driving assembly to act based on the facial deflection information under the spherical center coordinate system so as to enable the camera assembly to be positioned right in front of the face of the patient.
The beneficial effect of this embodiment does:
1) According to the embodiment of the invention, a camera assembly is used for collecting a facial image, a control assembly is matched to obtain facial position information and facial posture information of the face of a patient under a camera coordinate system, when the face of the patient moves, the control assembly is used for determining facial displacement information of the face of the patient under a sickbed coordinate system aiming at translational motion, and further a first driving assembly is controlled to adjust the position of a hemispherical transparent shell, so that the head of the patient is positioned at the center of a sphere of the hemispherical transparent shell; simultaneously, to the change of head gesture, confirm the facial deflection information of patient's face under the centre of sphere coordinate system through the control assembly, and then control second drive assembly adjustment camera subassembly position on the hemisphere type transparent shell, make camera subassembly is located patient face dead ahead, realizes the pursuit to patient's face, on this basis, compares current arm structure, and equipment occupation space can reduce by a wide margin, is fit for using in this kind of little space of intensive care unit more.
The following describes the implementation of the embodiment of the present invention in detail, taking an intensive care unit as an example of a usage scenario:
in an intensive care unit, the multifunctional respiratory therapy apparatus is provided with equipment such as a bedside monitor, a central monitor, a multifunctional respiratory therapy apparatus, an anesthesia machine, an electrocardiogram machine, a defibrillator, a pacemaker, an infusion pump, a micro-syringe, first-aid equipment required for tracheal intubation and tracheotomy, a CPM joint movement treatment nursing device and the like, and the space for installing the equipment is small.
When a patient lies in bed, the face of the patient shakes left and right, and the patient also has the possibility of generating a little-distance translational motion with small motion amplitude.
Aiming at the characteristics of the use scene, the facial state recording instrument for the serious bedridden patient is provided and comprises a hemispherical transparent shell, a camera assembly, a first driving assembly, a second driving assembly and a control assembly; wherein:
as shown in fig. 1, the diameter of the hemispherical transparent shell is equal to the width of the sickbed, is positioned above the surface of the sickbed and is made of toughened glass; furthermore, in order to facilitate use and improve the comfort of users, the parts of the sickbed close to the head and the tail of the sickbed are provided with gaps.
The first driving component is used for driving the hemispherical transparent shell to move relative to the sickbed; when the device is specifically implemented, the hemispherical transparent shell can be driven to move randomly along the directions of x, y and z axes of a sickbed coordinate system. The sickbed coordinate system is a space rectangular coordinate system taking a sickbed as a reference point. In this embodiment, the implementation manner of the first driving assembly is not limited, and only one possible implementation manner is given below:
the first drive assembly includes:
the four first connecting pieces are arranged around the sickbed, and each connecting piece is fixedly connected with the hemispherical transparent shell; specifically, as shown in fig. 1 to 2, the connecting pieces can be fixedly connected to the edge of the bottom opening of the hemispherical transparent shell, an included angle between every two adjacent first connecting pieces is 90 degrees, and the first connecting pieces and the hemispherical transparent shell are integrally positioned above the bed surface.
The x-axis direction adjusting unit is used for driving the four first connecting pieces to synchronously translate along the x-axis direction of the sickbed coordinate system;
the y-axis direction adjusting unit is used for driving the four first connecting pieces to synchronously translate along the y-axis direction of the sickbed coordinate system;
and the z-axis direction adjusting unit is used for driving the four first connecting pieces to synchronously translate along the z-axis direction of the sickbed coordinate system.
Specifically, each direction adjusting unit can be matched with the electric cylinder through a connecting rod structure, and in order to better track the face, the lowest position of the hemispherical transparent shell in the z-axis direction of the sickbed coordinate system is flush with the sickbed surface of the sickbed. The first connecting piece and the hemispherical transparent shell can be integrally moved horizontally and vertically through the first driving assembly.
The camera assembly (not shown in the figure) adopts the existing depth-of-field camera, the depth-of-field camera can collect RGB images and depth images, the camera assembly is attached to the outer surface of the hemispherical transparent shell through the second driving assembly, and the shooting direction of the camera assembly points to the center of the sphere of the hemispherical transparent shell.
And the second driving assembly is used for driving the camera assembly to move on the outer surface of the hemispherical transparent shell. In this embodiment, the implementation manner of the second driving assembly is not limited, and only one possible implementation manner is given below:
as shown in fig. 1, the second driving assembly includes:
the camera assembly is fixedly arranged on the second connecting piece; in specific implementation, the second connecting piece can be in a mounting rack with a hook structure or the like;
the traction motors are respectively arranged on the first connecting pieces and are connected with the second connecting pieces through traction ropes, so that the pulling forces in the directions of the four traction ropes act on the second connecting pieces together, one component of the resultant force is a force pointing to the direction of the center of sphere, and the camera assembly can move on the outer surface of the hemispherical transparent shell in a pasting mode.
A control unit (not shown) for calculating the coordinate system T of the patient's face in the camera based on the facial image c Lower face position information P c And facial pose information R c (ii) a The camera coordinate system is a space rectangular coordinate system taking the camera assembly as a reference point;
the control component is also used for the camera coordinate system T based on different moments c Lower facial position information acquisition hospital bed coordinate system T b Face displacement information of the lower; and based on said bed coordinate system T b The lower face displacement information controls the first driving component to act, so that the head of the patient is positioned in the spherical center of the hemispherical transparent shell.
The control component is also used for basing the camera coordinate system T at different moments c Lower face posture information acquisition sphere center coordinate system T o Facial deflection information of lower; and based on said sphere center coordinate system T o The lower facial deflection information controls the second drive assembly to operate so that the camera assembly is positioned directly in front of the patient's face.
In specific implementation, the implementation of the above functions of the control component is not limited, and only one possible implementation is given below:
1) For calculating face position information P of patient face under camera coordinate system based on face image c And facial pose information R c When implemented, will take picturesThe image head component collects RGB images and depth images for matching, a midiapipe algorithm is used for face detection, 468 feature points of the face can be detected through the algorithm, and the position of the 1 st feature point, namely the nose tip, in the 468 feature points is used as the position P of the face under a camera coordinate system c And when the face is detected, obtaining pixel point information of the face in the RGB image, and then automatically matching the depth information in the depth image to obtain the distance between the face and the depth camera. Then, the detected face information is transmitted into the solvePnP algorithm of opencv to estimate the face pose R under the camera coordinate system c
Through the steps, the face position information P at different moments can be obtained c And facial pose information R c 。
At the i-th time, as shown in FIG. 3, the head position of the patient coincides with the center of the hemisphere of the transparent shell (i.e. the face coordinate system at this time)
Figure BDA0003778184490000091
And a sphere center coordinate system
Figure BDA0003778184490000092
Coincide with each other) and the camera assembly is positioned directly in front of the patient's face (i.e., facial coordinate system)
Figure BDA0003778184490000093
One of the axes and the camera coordinate system
Figure BDA0003778184490000094
One of the axes of (a) is collinear); the spherical center coordinate system is a space rectangular coordinate system taking the spherical center of the hemispherical transparent shell as a reference point; the facial coordinate system is a spatial rectangular coordinate system taking the head position of the patient as a reference point.
2) For a translational movement of the patient's head:
if j > i within the time points i to j, the head of the patient is in translational motion (namely, the position of the face of the patient under the camera coordinate system is detected to be determined by
Figure BDA0003778184490000095
Become as
Figure BDA0003778184490000096
) In order to make the head position of the patient coincide with the spherical center position of the hemispherical transparent shell, the hemispherical transparent shell and the head of the patient need to be driven to synchronously move in a translation manner, and therefore, the slave computer is required to be calculated firstly
Figure BDA0003778184490000097
Face displacement information of
Figure BDA0003778184490000098
In the coordinate system T of the patient's bed b Corresponding change amount of
Figure BDA0003778184490000099
The method comprises the following specific steps:
obtaining face position information under the coordinate system of the camera at the ith moment
Figure BDA00037781844900000910
And facial position information in camera coordinate system at time j
Figure BDA00037781844900000911
Position information of face
Figure BDA0003778184490000101
And
Figure BDA0003778184490000102
converted into a coordinate system T of the patient's bed b Facial position information of lower
Figure BDA0003778184490000103
And
Figure BDA0003778184490000104
based on the coordinate system T of the sickbed b Facial position information of lower
Figure BDA0003778184490000105
And
Figure BDA0003778184490000106
calculating to obtain a coordinate system T of the sickbed b Underlying face displacement information
Figure BDA0003778184490000107
I.e. the amount of displacement of the patient's head relative to the couch top.
Is calculated to obtain
Figure BDA0003778184490000108
And then, taking the components of the facial displacement information in the x, y and z axes of the sickbed coordinate system as the displacement of the corresponding direction adjusting unit respectively. For example, if the variation of the head in the x-axis of the coordinate system of the patient bed is Δ x, it indicates that the patient has a horizontal translation parallel to the bed surface, and if the x-axis direction adjusting unit is an electric cylinder, the variation of the length is Δ x. The other components are analogized.
3) Pose change for the patient's head:
if j > i within the time points i to j, the head of the patient swings (namely, the posture of the face of the patient under the camera coordinate system is detected to be changed from the posture of the face of the patient under the camera coordinate system
Figure BDA0003778184490000109
Become as
Figure BDA00037781844900001010
) In order to continuously enable the camera assembly to be positioned right in front of the face of the patient, the camera assembly needs to be driven to move on the outer surface of the hemispherical transparent shell to the right in front of the face of the patient while the camera assembly is adjusted in a translation mode, and therefore calculation needs to be carried out
Figure BDA00037781844900001011
In a coordinate system T of the center of sphere o Corresponding amount of change of
Figure BDA00037781844900001012
The method comprises the following specific steps:
obtaining facial posture information under the coordinate system of the camera at the ith moment
Figure BDA00037781844900001013
And facial pose information under camera coordinate system at time j
Figure BDA00037781844900001014
Facial pose information using coordinate system transformations
Figure BDA00037781844900001015
And
Figure BDA00037781844900001016
converted into a spherical coordinate system T o Facial pose information of lower
Figure BDA00037781844900001017
And
Figure BDA00037781844900001018
based on the sphere center coordinate system T o Facial pose information of lower
Figure BDA00037781844900001019
And
Figure BDA00037781844900001020
calculating to obtain a sphere center coordinate system T o Facial deflection information of lower
Figure BDA00037781844900001021
Is calculated to obtain
Figure BDA00037781844900001022
And then, the displacement of the camera assembly on the outer surface of the hemispherical transparent shell can be converted into, and the second driving assembly is further controlled to act, so that the camera assembly is positioned right in front of the face of the patient. The method specifically comprises the following steps:
obtaining displacement information of the camera assembly on the outer surface of the hemispherical transparent shell based on the face deflection information under the spherical center coordinate system and the radius of the hemispherical transparent shell;
and taking the component of the displacement information of the camera assembly on the outer surface of the hemispherical transparent shell in each hauling rope direction as the displacement of the hauling rope of the corresponding hauling motor. For example, the number and distribution of the traction motors are shown in fig. 2, and since the two opposite traction motors are located in the same direction, the displacement information can be decomposed into two perpendicular components, with positive values indicating increasing the length of the traction ropes and negative values indicating decreasing the length of the traction ropes.
It should be noted that the parallel of the face portion corresponding to the translation of the hemispherical transparent shell driven by the first driving assembly and the rotation of the face portion corresponding to the movement of the camera driven by the second driving assembly along the outer surface of the hemispherical transparent shell do not separately and independently operate, but simultaneously operate, so that the camera is aligned with the face portion.
According to research, the smallest commercial seven-degree-of-freedom mechanical arm on the market at present reaches the maximum length of 902 mm, and the size of a common hospital bed for medical use is 1980X 840 mm.
Then the existing arm motion space (disregarding the following positions of the mounting base) occupies volume: 4/3 pi (0.891) 3 /2＝1.481m 3 ；
The radius of the hemispherical transparent shell of the embodiment is 420 mm, and the total occupied volume is as follows: 4/3 pi (0.42) 3 /2＝0.155m 3 (ii) a Assuming that the volume occupancy is increased by 3 times by the translational movement of the hemispherical transparent shell, the total occupancy is 0.155 x 3=0.465m 3 。
Obviously, the occupied volume of the embodiment can be reduced by 68.6% compared with the existing minimum mechanical arm.
In summary, compared with the prior art, the invention has the following beneficial effects:
1) According to the invention, a camera assembly is used for collecting facial images, the control assembly is matched to obtain facial position information and facial posture information of the face of a patient under a camera coordinate system, when the face of the patient moves, the control assembly is used for determining facial displacement information of the face of the patient under a sickbed coordinate system aiming at translational motion, and further the first driving assembly is controlled to adjust the position of the hemispherical transparent shell, so that the head of the patient is positioned in the center of a sphere of the hemispherical transparent shell; simultaneously, to the change of head gesture, confirm the facial deflection information of patient's face under the centre of sphere coordinate system through the control assembly, and then control second drive assembly adjustment camera subassembly position on the hemisphere type transparent shell, make camera subassembly is located patient face dead ahead, realizes the pursuit to patient's face, on this basis, compares current arm structure, and equipment occupation space can reduce by a wide margin, is fit for using in this kind of little space of intensive care unit more.
2) Compare in current arm structure, can master the motion range of device completely, guaranteed the security in the motion, can not touch other medical instrument.
3) Compared with the existing mechanical arm structure, the mechanical arm structure is lighter and lighter, only one camera is loaded on the hemispherical surface, and the secondary damage to a patient when the device breaks down is greatly reduced.
It should be noted that, through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments. In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (9)

1. The utility model provides a severe bed patient facial state record instrument which characterized in that includes:
the diameter of the hemispherical transparent shell is not less than the width of the sickbed and is positioned above the sickbed surface;
the camera component is used for acquiring a facial image of a patient, and the shooting direction of the camera component points to the center of the hemisphere of the hemispherical transparent shell;
the first driving component is used for driving the hemispherical transparent shell to move relative to the sickbed;
the second driving assembly is used for driving the camera assembly to move on the outer surface of the hemispherical transparent shell;
the control component is used for calculating face position information and face posture information of the face of the patient under a camera coordinate system based on the face image;
the system is also used for acquiring facial displacement information under a sickbed coordinate system based on facial position information under camera coordinate systems at different moments; the first driving component is controlled to act based on the facial displacement information under the sickbed coordinate system, so that the head of the patient is positioned in the center of the hemisphere of the hemispherical transparent shell;
the face deflection control system is also used for acquiring face deflection information under a sphere center coordinate system based on face posture information under camera coordinate systems at different moments; and controlling the second driving assembly to act based on the facial deflection information under the spherical center coordinate system so as to enable the camera assembly to be positioned right in front of the face of the patient.
2. The apparatus of claim 1, wherein the first drive assembly comprises:
the first connecting pieces are arranged around the sickbed in a surrounding manner, and each connecting piece is fixedly connected with the hemispherical transparent shell;
the x-axis direction adjusting unit is used for driving each first connecting piece to synchronously translate along the x-axis direction of the sickbed coordinate system;
the y-axis direction adjusting unit is used for driving each first connecting piece to synchronously translate along the y-axis direction of the sickbed coordinate system;
and the z-axis direction adjusting unit is used for driving each first connecting piece to synchronously translate along the z-axis direction of the sickbed coordinate system.
3. The facial condition recording instrument for critically ill bedridden patients as in claim 2, wherein said second drive assembly comprises:
the camera assembly is fixedly arranged on the second connecting piece;
the traction motors are respectively arranged on the first connecting pieces and are connected with the second connecting pieces through traction ropes, so that the camera assembly moves on the outer surface of the hemispherical transparent shell under the combined action of the traction ropes.
4. The facial condition recording instrument for the critically ill bed-ridden patient as claimed in claim 2 or 3, wherein the number of the first connecting pieces is four, and four first connecting pieces are fixedly connected to the bottom opening edge of the hemispherical transparent shell, and the included angle between two adjacent first connecting pieces is 90 °.
5. The facial condition recording apparatus for critically ill bedridden patients as claimed in claim 1, wherein the facial position information P of the patient's face in the camera coordinate system is calculated based on the facial image c The method comprises the following steps:
facial feature points are detected by using the midiapipe algorithm, and the position of the nose tip is used as the position of the face under the camera coordinate system.
6. The facial condition recording instrument for critically ill bedridden patients according to claim 1, wherein the facial position information P based on camera coordinate system at different time is c Obtaining a coordinate system T of a patient's bed b Face displacement information of:
obtaining face position information under the coordinate system of the camera at the ith moment
Figure FDA0003778184480000021
And facial position information in camera coordinate system at time j
Figure FDA0003778184480000022
Face position information using coordinate system transformation
Figure FDA0003778184480000023
And
Figure FDA0003778184480000024
converted into a coordinate system T of the patient's bed b Facial position information
Figure FDA0003778184480000025
And
Figure FDA0003778184480000026
based on the coordinate system T of the sickbed b Facial position information of lower
Figure FDA0003778184480000027
And
Figure FDA0003778184480000028
calculating to obtain a coordinate system T of the sickbed b Facial displacement information
Figure FDA0003778184480000029
7. The facial condition recording instrument for critically ill bedridden patients as claimed in claim 2, wherein the controlling of the first drive assembly based on the facial displacement information under the bed coordinate system comprises:
and respectively taking the x, y and z-axis components of the facial displacement information in the sickbed coordinate system as the displacement of the corresponding direction adjusting unit.
8. The apparatus of claim 1, wherein the acquiring of the facial deflection information in the sphere center coordinate system based on the facial pose information in the camera coordinate system at different times comprises:
obtaining facial posture information under the coordinate system of the camera at the ith moment
Figure FDA0003778184480000031
And facial pose information under camera coordinate system at time j
Figure FDA0003778184480000032
Facial pose information using coordinate system transformations
Figure FDA0003778184480000033
And
Figure FDA0003778184480000034
converted into a spherical coordinate system T o Facial pose information of lower
Figure FDA0003778184480000035
And
Figure FDA0003778184480000036
based on the sphere center coordinate system T o Facial pose information of lower
Figure FDA0003778184480000037
And
Figure FDA0003778184480000038
calculating to obtain a sphere center coordinate system T o Facial deflection information of lower
Figure FDA0003778184480000039
9. A critical patient facial condition recorder as claimed in claim 3 wherein the second drive unit is controlled to operate based on facial deflection information in the spherical coordinate system, comprising:
obtaining displacement information of the camera assembly on the outer surface of the hemispherical transparent shell based on the face deflection information under the spherical center coordinate system and the radius of the hemispherical transparent shell;
and taking the component of the displacement information of the camera assembly on the outer surface of the hemispherical transparent shell in each hauling rope direction as the displacement of the hauling rope of the corresponding hauling motor.
CN202210922132.4A 2022-08-02 2022-08-02 Facial state recording instrument for severe bedridden patient Pending CN115429581A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210922132.4A CN115429581A (en) 2022-08-02 2022-08-02 Facial state recording instrument for severe bedridden patient

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210922132.4A CN115429581A (en) 2022-08-02 2022-08-02 Facial state recording instrument for severe bedridden patient

Publications (1)

Publication Number Publication Date
CN115429581A true CN115429581A (en) 2022-12-06

Family

ID=84242960

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210922132.4A Pending CN115429581A (en) 2022-08-02 2022-08-02 Facial state recording instrument for severe bedridden patient

Country Status (1)

Country Link
CN (1) CN115429581A (en)

Similar Documents

Publication Publication Date Title
EP3858433B1 (en) Tms positioning navigation apparatus for transcranial magnetic stimulation treatment
CN110896609B (en) TMS positioning navigation method for transcranial magnetic stimulation treatment
CN114980810A (en) System for detecting a course of motion and/or vital sign parameters of a person
CN110896611B (en) Transcranial magnetic stimulation diagnosis and treatment navigation system based on camera
WO2018205722A1 (en) Rehabilitation robot, rehabilitation system, rehabilitation method and rehabilitation apparatus
CN110840666B (en) Wheelchair mechanical arm integrated system based on electro-oculogram and machine vision and control method thereof
CN107296675A (en) A kind of spine recovering machine people
Zheng et al. A novel respiratory follow-up robotic system for thoracic-abdominal puncture
CN115429581A (en) Facial state recording instrument for severe bedridden patient
Ferrigno et al. Medical robotics
CN106510847B (en) A kind of minimally invasive spine surgical robot main side station
CN116206779A (en) Wisdom ward interactive system based on visual perception
CN201398960Y (en) Facioplegia neuro-functional detection device
US11948247B2 (en) Camera-based transcranial magnetic stimulation diagnosis and treatment head modeling system
Zhang et al. Implementation of an SSVEP-based intelligent home service robot system
CN219250840U (en) CPM finger intelligent motion training therapeutic instrument
CN111387949B (en) Children's skull scanner
CN217853783U (en) Hand exoskeleton active rehabilitation system with movable brain-computer combined function and mirror image function
CN209032398U (en) One kind being able to carry out the adjustable medical imaging diagnostic device in real-time range, orientation
CN215195280U (en) Suspension type bed exerciser
EP4277529B1 (en) Chest x-ray system and method
Khorsandi et al. Design and implementation of a control device for intelligent wheelchair by combining image processing and acceleration sensor
CN113842553A (en) Nondestructive directional tumor therapeutic apparatus
EP4201330A1 (en) Chest x-ray system and method
CN109846635B (en) Nursing bed system based on glasses and brain-computer interface

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination