CN117297529A - Operation control method of laryngoscope device and remote operation equipment of laryngoscope - Google Patents
Operation control method of laryngoscope device and remote operation equipment of laryngoscope Download PDFInfo
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- A61B1/00002—Operational features of endoscopes
- A61B1/00011—Operational features of endoscopes characterised by signal transmission
- A61B1/00016—Operational features of endoscopes characterised by signal transmission using wireless means
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- A61B10/02—Instruments for taking cell samples or for biopsy
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- A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
- A61B2018/00577—Ablation
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- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00982—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body combined with or comprising means for visual or photographic inspections inside the body, e.g. endoscopes
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Abstract
The application discloses operation control method and laryngoscope teleoperation equipment of laryngoscope device, laryngoscope teleoperation equipment includes laryngoscope device, two teleoperation control handles and a plurality of function button, and this method includes: in a laryngoscope mode, responding to a laryngoscope operation signal correspondingly generated after the first teleoperation control handle moves, and controlling the laryngoscope to execute laryngoscope operation corresponding to the laryngoscope operation signal; responding to a function mode signal correspondingly generated after a function key is pressed, and controlling laryngoscope teleoperation equipment to enter a live cutting mode or an ablation line mode corresponding to the function mode signal; in the live cutting mode or the ablation line mode, responding to the instrument operation signal correspondingly generated after the second teleoperation control handle moves, and controlling the live cutting or the ablation line to execute the instrument operation corresponding to the instrument operation signal. Therefore, the laryngoscope device operation control system has the advantages of improving the integration level, flexibility and convenience of the laryngoscope device operation control.
Description
Technical Field
The application relates to the technical field of medical instruments, in particular to an operation control method of a laryngoscope device and laryngoscope teleoperation equipment.
Background
The prior laryngoscope device usually needs assistant when operating, wastes manpower and has hidden trouble of doctor-patient infection. Furthermore, conventional laryngoscope devices generally have only viewing functions, and do not have sampling, ablation, etc.; when the laryngoscope device is additionally provided with surgical scissors or an ablation line in addition to a basic laryngoscope component, an operator is difficult to implement single teleoperation control on the additionally provided instruments, namely, when the laryngoscope device is actually applied, the operator is difficult to accurately control the diversified instruments equipped with the laryngoscope device by individuals, the instrument operation control integration level of the laryngoscope device is poor, and the instrument gesture is difficult to accurately control by individuals.
Disclosure of Invention
An object of the application is to provide an operation control method and laryngoscope teleoperation equipment of laryngoscope device, through integrating the multiple operation control of laryngoscope device in an organic whole, can realize single convenient high-efficient control to the multiple execution apparatus such as laryngoscope, live scissors, ablation line in the laryngoscope device, effectively promote integration level, flexibility and the convenience of laryngoscope device operation control, and promote operating personnel and use experience.
Embodiments of the present application are implemented as follows:
the first aspect of the embodiments of the present application provides an operation control method of a laryngoscope device, where the method is applied to a laryngoscope teleoperation apparatus, the laryngoscope teleoperation apparatus has multiple functional modes, the functional modes include a laryngoscope mode, a live cutting mode and an ablation line mode, the laryngoscope teleoperation apparatus includes a laryngoscope device, two teleoperation control handles and multiple functional keys, and the operation control method includes: in a laryngoscope mode, responding to a laryngoscope operation signal correspondingly generated after the first teleoperation control handle moves, and controlling the laryngoscope to execute laryngoscope operation corresponding to the laryngoscope operation signal; responding to a function mode signal correspondingly generated after a function key is pressed, and controlling laryngoscope teleoperation equipment to enter a live cutting mode or an ablation line mode corresponding to the function mode signal; in the live cutting mode or the ablation line mode, responding to the instrument operation signal correspondingly generated after the second teleoperation control handle moves, and controlling the live cutting or the ablation line to execute the instrument operation corresponding to the instrument operation signal.
In an embodiment, a first enabling trigger is disposed on the first teleoperation control handle, and in a laryngoscope mode, in response to a laryngoscope operation signal generated correspondingly after the movement of the first teleoperation control handle, the laryngoscope is controlled to execute laryngoscope operation corresponding to the laryngoscope operation signal, including: when the first enabling trigger is buckled, responding to a laryngoscope telescopic signal correspondingly generated after the first teleoperation control handle moves linearly along the Z-axis movement channel, and controlling the laryngoscope to execute telescopic action corresponding to the laryngoscope telescopic signal; and/or when the first enabling trigger is buckled, responding to a first laryngoscope overturning signal correspondingly generated after the first teleoperation control handle performs overturning motion on the RotY motion channel, and controlling the laryngoscope to execute a first swinging motion corresponding to the first laryngoscope overturning signal.
In an embodiment, a first clamping jaw is arranged on a first teleoperation control handle, and in a laryngoscope mode, a laryngoscope operation signal corresponding to the laryngoscope operation signal is correspondingly generated after the first teleoperation control handle moves is responded to, and the laryngoscope operation corresponding to the laryngoscope operation signal is controlled to be executed by the laryngoscope, and the method comprises the following steps: when the first clamping jaw is completely closed, responding to a second laryngoscope turning signal correspondingly generated after the first teleoperation control handle performs turning motion on the RotX motion channel, and controlling the laryngoscope to execute a second swinging motion corresponding to the second laryngoscope turning signal.
In an embodiment, the second teleoperation control handle is provided with a second clamping jaw, and in the live cutting mode or the ablation line mode, the live cutting or the ablation line is controlled to execute the instrument operation corresponding to the instrument operation signal in response to the instrument operation signal correspondingly generated after the second teleoperation control handle moves, and the method comprises the following steps: in the live shear mode, the live shears are controlled to open or close based on the current state of the second clamping jaw.
In an embodiment, a second enabling trigger and a second clamping jaw are arranged on the second teleoperation control handle, and in a live cutting mode or an ablation line mode, the live cutting or the ablation line is controlled to execute the instrument operation corresponding to the instrument operation signal in response to the instrument operation signal correspondingly generated after the second teleoperation control handle moves, and the method comprises the following steps: in the active cutting mode or the ablation line mode, when the second enabling trigger is buckled and the second clamping jaw is completely closed, the active cutting or the ablation line is controlled to execute the advancing and retreating actions corresponding to the advancing and retreating signals in response to the advancing and retreating signals correspondingly generated after the second teleoperation control handle linearly moves along the Z-axis movement channel.
In an embodiment, the second teleoperation control handle is provided with a second clamping jaw, and in the live cutting mode or the ablation line mode, the live cutting or the ablation line is controlled to execute the instrument operation corresponding to the instrument operation signal in response to the instrument operation signal correspondingly generated after the second teleoperation control handle moves, and the method comprises the following steps: in the ablation line mode, when the second clamping jaw is completely closed, the ablation line is controlled to execute the ablation line swinging motion corresponding to the ablation line swinging signal in response to the ablation line swinging signal correspondingly generated after the second teleoperation control handle performs overturning motion on the RotX motion channel.
In one embodiment, the laryngoscope teleoperated device further comprises an analog foot pedal, the method further comprising: in the ablation line mode, the ablation power of the ablation line is adjusted based on the stepping pressure of the analog quantity pedal acquired in real time.
In one embodiment, the function key comprises a reset key, and the method further comprises: and in response to a long-time trigger signal generated after the reset key is pressed, marking the current pose state of the laryngoscope device as an initial pose state.
In one embodiment, the function key comprises a reset key, and the method further comprises: and responding to a short-time trigger signal generated after the reset key is pressed, and adjusting the current pose state of the laryngoscope device to the initial pose state.
A second aspect of embodiments of the present application provides a laryngoscope teleoperational device comprising a processor, laryngoscope means and teleoperational means. The laryngoscope device comprises a plurality of executing instruments, and each executing instrument is electrically connected with the processor; the teleoperation device comprises two teleoperation control handles and a plurality of function keys; each teleoperation control handle and each function key are respectively and electrically connected with the processor.
Compared with the prior art, the beneficial effects of this application are:
the laryngoscope device can solve the problem that in the prior art, a single person is difficult to control different executive instruments in the laryngoscope device. According to the method, through the movement of the first teleoperation control handle, the laryngoscope is controlled to execute the operation corresponding to the movement of the first teleoperation control handle in the laryngoscope mode, and after the function key is pressed to select the function mode, the movement of the second teleoperation control handle is used for controlling the living scissors or the ablation line to execute the operation corresponding to the movement of the second teleoperation control handle. The operation control of the various executive instruments of the laryngoscope device is integrated, so that the convenience and high-efficiency control of the various executive instruments such as the laryngoscope, the movable scissors and the ablation line in the laryngoscope device can be realized by a single person, the integration level, the flexibility and the convenience of the operation control of the laryngoscope device are effectively improved, and the use experience of operators can be effectively improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a laryngoscope teleoperation device according to an embodiment of the present application;
fig. 2 is a flow chart of an operation control method of a laryngoscope device according to an embodiment of the present application.
Reference numerals: 1-a laryngoscope teleoperation device; 2-laryngoscope apparatus; 21-laryngoscope; 22-live shearing; 23-ablation lines; a 3-processor; 4-memory; 5-teleoperation means; 51-a first teleoperational control handle; 511-a first enabling trigger; 512-first jaw; 52-a second teleoperational control handle; 521-a second enabling trigger; 522-a second jaw; 53-analog foot pedal; 54-first key; 55-a second key; 56-reset key.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
Like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only to distinguish the description, and are not to be construed as indicating or implying relative importance.
The technical solutions of the present application will be clearly and completely described below with reference to the accompanying drawings.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a laryngoscope teleoperation device 1 according to an embodiment of the present application. As shown in fig. 1, the laryngoscope teleoperation apparatus 1 comprises a processor 3, a memory 4, a laryngoscope device 2 and a teleoperation device 5. Wherein the laryngoscope device 2 comprises a plurality of actuating instruments, such as a laryngoscope 21, a biopsy 22, an ablation wire 23, and the like, and each actuating instrument is electrically connected with the processor 3; the teleoperation device 5 comprises two teleoperation control handles (a first teleoperation control handle 51 and a second teleoperation control handle 52 respectively) and a plurality of function keys (the function keys comprise a first key 54, a second key 55 and a reset key 56); each teleoperation control handle and each function key are respectively and electrically connected with the processor 3. The processor 3 is electrically connected to the memory 4, and the memory 4 stores instructions executable by the at least one processor 3, and the instructions are executed by the at least one processor 3, so that the at least one processor 3 performs an operation control method of the laryngoscope device in the following embodiments.
In an embodiment, the two teleoperation control handles are all multi-degree-of-freedom motion handles, and each teleoperation control handle is provided with an enabling trigger and a clamping jaw. The teleoperated control handle has 7 successive analog motion channels including up and down movement along the z-axis, rotation RotZ about the z-axis, rotation RotY about the y-axis, rotation RotX about the x-axis, left and right movement along the y-axis, back and forth movement along the x-axis, and jaw opening and closing.
In one embodiment, the teleoperation device 5 further includes an analog foot pedal 53, the analog foot pedal 53 is electrically connected to the processor 3, and the analog foot pedal 53 is configured to collect the pedaling pressure in real time. The processor 3 is able to determine the ablation power of the ablation line 23 from the pedaling pressure, thereby adjusting the ablation power of the ablation line 23.
In the embodiment of the application, an operator holds two teleoperation control handles with two hands respectively as a driving end, and laryngoscope equipment is used as a driven end and belongs to a controlled object. An encoder is arranged in each analog quantity motion channel of the teleoperation control handle so as to feed back the position or the pose change of the handle in real time. Each motion joint of the various implement instruments of the laryngoscope apparatus has a position and velocity interface. When the surgical operation is performed by the executive device in the remote control laryngoscope device, the processor 3 acquires the position (or pose) and the movement speed of the teleoperation control handle in different movement channels, obtains the position (or pose) or the movement speed of the laryngoscope device through mapping conversion, and then issues the position (or pose) or the movement speed to the corresponding executive device of the laryngoscope device to perform the corresponding surgical operation.
In the embodiments of the present application, laryngoscope surgical procedures are divided into: laryngoscope-related procedures, live shear-related procedures, and ablation-related procedures, wherein the live shear-related procedures and the ablation-related procedures are not performed simultaneously. Laryngoscope related procedures include: feeding the laryngoscope along a Z axis, swinging the laryngoscope Ry axis back and forth, swinging the laryngoscope Rx axis left and right, and rotating the laryngoscope around the Z axis; the live shear related operations include: advancing and retreating the movable scissors, opening the movable scissors, closing the movable scissors and clamping the movable scissors; the ablation-related operation includes: the ablation line advances and retreats, the ablation line head swings, and the ablation power is adjusted to be larger and smaller.
Referring to fig. 2, fig. 2 is a schematic flow chart of an operation control method of a laryngoscope apparatus according to an embodiment of the present application, and the method is applied to a laryngoscope teleoperation device or a teleoperation device with which other laryngoscope devices participate in the embodiment. The laryngoscope teleoperation device has a plurality of functional modes, wherein the functional modes comprise a laryngoscope mode, a live shearing mode and an ablation line mode, and as shown in fig. 2, the operation control method of the laryngoscope device comprises the following steps:
s110: in a laryngoscope mode, responding to a laryngoscope operation signal correspondingly generated after the first teleoperation control handle moves, and controlling the laryngoscope to execute laryngoscope operation corresponding to the laryngoscope operation signal.
Laryngoscope mode refers to a mode in which the laryngoscope in the laryngoscope device is controlled to perform surgical procedures. The laryngoscope operation signal refers to a laryngoscope action instruction carrying action parameters generated by mapping conversion according to the real-time pose or pose change obtained by the encoder after the processor moves the first teleoperation control handle. In this step, the processor controls the laryngoscope to perform laryngoscope operation corresponding to the laryngoscope operation signal based on the laryngoscope operation signal, i.e. the processor controls the laryngoscope to track the action of the first teleoperation control handle.
S120: and responding to the function mode signal correspondingly generated after the function key is pressed, and controlling the laryngoscope teleoperation equipment to enter a live cutting mode or an ablation line mode corresponding to the function mode signal.
The live scissors mode refers to a mode in which live scissors in the laryngoscope device are controlled to perform surgical operations; the ablation line mode refers to a mode in which the ablation line in the laryngoscope device is controlled to perform a surgical procedure.
The first key 54 and the second key 55 of the function keys are respectively configured to select the working mode of the laryngoscope teleoperation device to be a live cutting mode or an ablation line mode. For example, when the first key 54 is pressed, the laryngoscope teleoperation device 1 generates a functional mode signal corresponding to the live scissors mode, and subsequently controls the live scissors 22 to perform corresponding operation according to the movement of the second teleoperation control handle 52; when the second key 55 is pressed, the laryngoscope teleoperation device 1 generates a functional mode signal corresponding to the mode of entering the ablation line, and then controls the ablation line 23 to execute corresponding operation according to the movement of the second teleoperation control handle 52. In this step, after the first key 54 or the second key 55 is pressed, a corresponding functional mode signal is generated, and the processor controls the laryngoscope teleoperation device to enter a live cutting mode or an ablation line mode based on the functional mode corresponding to the functional mode signal.
S130: in the live cutting mode or the ablation line mode, responding to the instrument operation signal correspondingly generated after the second teleoperation control handle moves, and controlling the live cutting or the ablation line to execute the instrument operation corresponding to the instrument operation signal.
The instrument operation signal refers to a live shear action instruction or an ablation line action instruction carrying action parameters generated by mapping conversion according to the real-time pose or pose change data obtained by the encoder after the processor moves the second teleoperation control handle.
According to the method, through the movement of the first teleoperation control handle, the laryngoscope is controlled to execute the operation corresponding to the movement of the first teleoperation control handle in the laryngoscope mode, and after the function key is pressed to select the function mode, the movement of the second teleoperation control handle is used for controlling the living scissors or the ablation line to execute the operation corresponding to the movement of the second teleoperation control handle. The operation control of the various executive instruments of the laryngoscope device is integrated, so that convenience and high-efficiency control of the various executive instruments such as the laryngoscope, the live scissors and the ablation line in the laryngoscope device can be realized by a single person, the integration level, the flexibility and the convenience of the operation control of the laryngoscope device are effectively improved, and the use experience of operators can be effectively improved.
In one embodiment, step S110: in a laryngoscope mode, responding to a laryngoscope operation signal correspondingly generated after the movement of the first teleoperation control handle, controlling the laryngoscope to execute laryngoscope operation corresponding to the laryngoscope operation signal, and comprising the following details:
laryngoscopes feed along the z-axis: when the first enabling trigger is buckled down, the processor responds to a laryngoscope telescopic signal which is correspondingly generated after the first teleoperation control handle moves linearly along the Z-axis movement channel, and controls the laryngoscope to execute telescopic action corresponding to the laryngoscope telescopic signal.
In an operation process, an operator pulls the first enabling trigger 511 of the first teleoperation control handle 51 (the first teleoperation control handle 51 may be located at the left side of the operation position where the operator is located), and moves the handle up and down along the Z axis, and after the processor 3 collects the displacement of the first teleoperation control handle 51 along the Z axis through the encoder, the displacement is calculated through mapping, so as to obtain the feeding displacement of the feeding end of the laryngoscope hose, and further control the laryngoscope to extend or retract according to the feeding displacement, so as to realize master-slave tracking control between the first teleoperation control handle 51 and the laryngoscope 21.
The laryngoscope Ry axis swings back and forth: when the first enabling trigger 511 is pulled down, the laryngoscope 21 is controlled to perform a first swinging motion corresponding to the first laryngoscope turning signal in response to the first laryngoscope turning signal correspondingly generated after the first teleoperation control handle 51 performs the turning motion in the RotY motion channel.
In an operation process, an operator pulls the first enabling trigger 511, turns over the first teleoperation control handle 51 around the Y axis in the RotY motion channel, and after the processor 3 collects the rotation angle or the current pose angle of the first teleoperation control handle 51 around the Y axis through the encoder, maps the rotation angle or the current pose angle to the laryngoscope end according to a preset ratio (preferably, the mapping ratio is 1:1), and controls the laryngoscope 21 to perform the swinging action with the same angle and the same direction around the Y axis, namely, the first swinging action, so as to realize master-slave tracking control between the first teleoperation control handle 51 and the laryngoscope 21.
The laryngoscope Rx axis swings left and right: when the first clamping jaw 512 is completely closed, the laryngoscope 21 is controlled to execute a second swinging motion corresponding to the second laryngoscope turning signal in response to the second laryngoscope turning signal correspondingly generated after the first teleoperation control handle 51 performs turning motion in the RotX motion channel.
In an operation process, an operator folds the first clamping jaw 512 on the first teleoperation control handle 51, turns over the first teleoperation control handle 51 around the X axis in the RotX motion channel, and after the processor 3 collects the rotation angle or the current pose angle of the first teleoperation control handle 51 around the X axis through the encoder, maps the rotation angle or the current pose angle to the laryngoscope end according to a preset proportion, and controls the laryngoscope 21 to execute the swinging motion with the same angle and the same direction around the X axis, namely, the second swinging motion, so as to realize master-slave tracking control between the first teleoperation control handle 51 and the laryngoscope 21.
Laryngoscope Rz axis rotation: when the first clamping jaw 512 is completely closed, the laryngoscope 21 is controlled to execute a rotation action corresponding to the third laryngoscope turning signal in response to the third laryngoscope turning signal generated correspondingly after the first teleoperation control handle 51 performs turning movement in the RotZ movement channel.
In an operation process, an operator folds the first clamping jaw 512 on the first teleoperation control handle 51, turns over the first teleoperation control handle 51 around the Z axis in the RotZ motion channel, and after the processor 3 acquires the rotation angle or the current pose angle of the first teleoperation control handle 51 around the Z axis through the encoder, maps the rotation angle or the current pose angle to the laryngoscope end according to a preset proportion, and controls the laryngoscope 21 to perform the rotation actions with the same angle and the same direction around the Z axis, so as to realize master-slave tracking control between the first teleoperation control handle 51 and the laryngoscope 21.
In an embodiment, the movement angles and movement directions of the first swing motion and the second swing motion and the laryngoscope rotation motion are consistent with the turning angles and turning directions of the first teleoperation control handle 51 in the corresponding analog movement channels.
In an embodiment, the processor determines the movement speed and the pose change (or the target pose) of the laryngoscope when the master-slave motion tracking operation is performed based on the manipulation mode of the first teleoperation handle (the trigger is buckled and/or the clamping jaw is completely closed), the movement speed of the first teleoperation handle and the pose change (the current pose) after the movement, so as to ensure that the laryngoscope precisely performs the corresponding operation after the motion of the laryngoscope tracking handle.
In one embodiment, step S130: in the live cutting mode or the ablation line mode, responding to the instrument operation signal correspondingly generated after the second teleoperation control handle moves, and controlling the live cutting or the ablation line to execute the instrument operation corresponding to the instrument operation signal, wherein the method comprises the following details:
advancing and retreating of the biopsy and ablation line: in the active cutting mode or the ablation line mode, when the second enabling trigger is buckled and the second clamping jaw is completely closed, the active cutting or the ablation line is controlled to execute the advancing and retreating actions corresponding to the advancing and retreating signals in response to the advancing and retreating signals correspondingly generated after the second teleoperation control handle linearly moves along the Z-axis movement channel.
In an operation process, in the active cutting mode or the ablation line mode, an operator pulls the second enabling trigger 521 of the second teleoperation control handle 52 (the second teleoperation control handle 52 may be located on the right side of the operation position where the operator is located), closes the second clamping jaw 522 of the second teleoperation control handle 52, and simultaneously moves the second teleoperation control handle 52 up and down along the Z axis direction, and after the processor 3 collects the displacement of the second teleoperation control handle 52 along the Z axis through the encoder, the displacement is calculated through mapping, so as to obtain the feeding displacement of the feeding end of the active cutting 22 or the ablation line 23, and further control the active cutting 22 or the ablation line 23 to extend or retract according to the feeding displacement, so as to realize master-slave tracking control between the second teleoperation control handle 52 and the active cutting 22 or the ablation line 23.
Ablation wire head sway: in the ablation line mode, when the second clamping jaw is completely closed, the ablation line is controlled to execute the ablation line swinging motion corresponding to the ablation line swinging signal in response to the ablation line swinging signal correspondingly generated after the second teleoperation control handle performs overturning motion on the RotX motion channel.
In an operation process, the operator folds the second clamping jaw 522, turns over the second teleoperation control handle 52 around the X axis in the RotX analog motion channel, and after the processor 3 collects the rotation angle or the current pose angle of the second teleoperation control handle 52 around the X axis through the encoder, maps the rotation angle or the current pose angle to the head motion end (preferably the mapping ratio is 1:1) of the ablation line 23 according to a preset ratio, and controls the head of the ablation line 23 to perform the swinging motion with the same angle and the same direction around the X axis, namely, the swinging motion of the ablation line, so as to realize master-slave tracking control between the second teleoperation control handle 52 and the ablation line 23.
In the above embodiments, the operator remotely controls the movement of the laryngoscope 21, the biopsy 22 or the ablation wire 23 by manipulating the movement of the first and/or second teleoperated control handles 51, 52 in combination with the jaw release and retraction, and/or the trigger release and engagement. When the jaws are fully released, the teleoperation device 5 no longer controls the corresponding implement instrument in the laryngoscope device 2 (e.g. the laryngoscope corresponding to the first jaw, or the biopsy or ablation line corresponding to the second jaw); when the jaws are fully closed, the teleoperational device 5 again controls the corresponding implement in the laryngoscope device 2.
And (3) opening and closing by movable scissors: in the live shear mode, the processor controls the live shear to open or close based on the current state of the second jaw. During an application, when the operator releases the second jaw 522 on the second teleoperated control handle 52, the live shears 22 (or vice) open simultaneously; when the operator closes the second jaw 522 on the second teleoperated control handle 52, the live shears 22 (or live shears) close simultaneously; when the operator grasps the second jaw 522 on the second teleoperated control handle 52, the live shears 22 (or vice versa) are able to maintain a closed state, clamping the target tissue.
In one embodiment, in the ablation line mode, the processor adjusts the ablation power of the ablation line based on the pedaling pressure experienced by the analog foot pedal acquired in real time. In an application process, an operator adjusts the ablation power of the ablation line 23 in the laryngoscope device 2 by adjusting the force of stepping on the analog quantity pedal 53, that is, the ablation power is increased when the operator steps on the analog quantity pedal 53 with force, and the operator releases the analog quantity pedal or reduces the ablation power when the operator steps on the analog quantity pedal 53 with force.
In one embodiment, the method of controlling operation of a laryngoscope device further comprises: responding to a long-time trigger signal generated after a reset key is pressed, and marking the current pose state of the laryngoscope device as an initial pose state; and responding to a short-time trigger signal generated after the reset key is pressed, and adjusting the current pose state of the laryngoscope device to the initial pose state.
During an application, the operator presses the reset button 56 long after the end of the procedure or before the beginning of the procedure to set the initial position of the laryngoscope 21, the biopsy 22 or the ablation wire 23. For example, the straightening state of the implement is set to the initial pose state, or the state when the implement is retracted to the limit is set to the initial pose state. During the operation, if the executing instrument needs to be restored to the initial pose state, the operator presses the reset button 56 for a short time to control the laryngoscope 21, the biopsy 22 or the ablation line 23 to move, so that the current pose state is switched to the preset initial pose state, namely, the reset operation is executed.
In the several embodiments provided in the present application, the disclosed apparatus and method may be implemented in other manners. The apparatus embodiments described above are merely illustrative, for example, flow diagrams and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, the functional modules in the embodiments of the present application may be integrated together to form a single part, or each module may exist alone, or two or more modules may be integrated to form a single part.
Embodiments of the present application provide a computer-readable storage medium storing a computer program. The computer program may be executable by the processor to perform the method of controlling operation of the laryngoscope device.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored on a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-only memory (ROM), a random access memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the same, but rather, various modifications and variations may be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.
Claims (10)
1. The operation control method of the laryngoscope device is characterized in that the method is applied to a laryngoscope teleoperation device, the laryngoscope teleoperation device has a plurality of functional modes, the functional modes comprise a laryngoscope mode, a live cutting mode and an ablation line mode, the laryngoscope teleoperation device comprises the laryngoscope device, two teleoperation control handles and a plurality of functional keys, and the operation control method comprises the following steps:
in the laryngoscope mode, responding to a laryngoscope operation signal correspondingly generated after the first teleoperation control handle moves, and controlling the laryngoscope to execute laryngoscope operation corresponding to the laryngoscope operation signal;
responding to a function mode signal correspondingly generated after the function key is pressed, and controlling the laryngoscope teleoperation equipment to enter the live cutting mode or the ablation line mode corresponding to the function mode signal;
and in the live cutting mode or the ablation line mode, responding to the instrument operation signal correspondingly generated after the second teleoperation control handle moves, and controlling the live cutting or the ablation line to execute the instrument operation corresponding to the instrument operation signal.
2. The method according to claim 1, wherein the first teleoperation control handle is provided with a first enabling trigger, and in the laryngoscope mode, in response to a laryngoscope operation signal generated correspondingly after the movement of the first teleoperation control handle, the method controls the laryngoscope to execute laryngoscope operation corresponding to the laryngoscope operation signal, and comprises:
when the first enabling trigger is buckled, responding to a laryngoscope telescopic signal correspondingly generated after the first teleoperation control handle moves linearly along a Z-axis movement channel, and controlling the laryngoscope to execute telescopic action corresponding to the laryngoscope telescopic signal; and/or
When the first enabling trigger is buckled, responding to a first laryngoscope overturning signal correspondingly generated after the first teleoperation control handle overturns in the RotY movement channel, and controlling the laryngoscope to execute a first swinging motion corresponding to the first laryngoscope overturning signal.
3. The operation control method of a laryngoscope device according to claim 1 or 2, wherein the first teleoperation control handle is provided with a first clamping jaw, and in the laryngoscope mode, in response to a laryngoscope operation signal generated correspondingly after the first teleoperation control handle moves, the laryngoscope is controlled to execute laryngoscope operation corresponding to the laryngoscope operation signal, comprising:
when the first clamping jaw is completely closed, responding to a second laryngoscope turning signal correspondingly generated after the first teleoperation control handle performs turning motion on the RotX motion channel, and controlling the laryngoscope to execute a second swinging motion corresponding to the second laryngoscope turning signal.
4. The operation control method of a laryngoscope device according to claim 1, wherein the second teleoperation control handle is provided with a second clamping jaw, and the controlling the living scissors or the ablation line to execute the instrument operation corresponding to the instrument operation signal in response to the instrument operation signal generated correspondingly after the movement of the second teleoperation control handle in the living scissors mode or the ablation line mode comprises:
in the live shear mode, the live shear is controlled to open or close based on the current state of the second clamping jaw.
5. The operation control method of a laryngoscope device according to claim 1, wherein the second teleoperation control handle is provided with a second enabling trigger and a second clamping jaw, and the controlling the living scissors or the ablation line to execute the instrument operation corresponding to the instrument operation signal in response to the instrument operation signal generated correspondingly after the movement of the second teleoperation control handle in the living scissors mode or the ablation line mode comprises:
and in the active cutting mode or the ablation line mode, when the second enabling trigger is buckled and the second clamping jaw is completely closed, responding to a corresponding generated advance and retreat signal after the second teleoperation control handle moves linearly along the Z-axis movement channel, and controlling the active cutting or the ablation line to execute advance and retreat actions corresponding to the advance and retreat signal.
6. The operation control method of a laryngoscope device according to claim 1, wherein the second teleoperation control handle is provided with a second clamping jaw, and the controlling the living scissors or the ablation line to execute the instrument operation corresponding to the instrument operation signal in response to the instrument operation signal generated correspondingly after the movement of the second teleoperation control handle in the living scissors mode or the ablation line mode comprises:
and in the ablation line mode, when the second clamping jaw is completely closed, responding to an ablation line swinging signal correspondingly generated after the second teleoperation control handle performs overturning movement on the RotX movement channel, and controlling the ablation line to execute ablation line swinging motion corresponding to the ablation line swinging signal.
7. The method of operation control of a laryngoscope apparatus according to claim 1 or 5 or 6, wherein the laryngoscope teleoperation apparatus further comprises an analog foot pedal, the method further comprising:
in the ablation line mode, the ablation power of the ablation line is adjusted based on the stepping pressure of the analog quantity pedal acquired in real time.
8. The method of operation control of a laryngoscope device according to claim 1, wherein the function key comprises a reset key, the method further comprising:
and responding to a long-time trigger signal generated after the reset key is pressed, and marking the current pose state of the laryngoscope device as an initial pose state.
9. The method of controlling operation of a laryngoscope device according to claim 1 or 8, wherein the function key comprises a reset key, the method further comprising:
and responding to a short-time trigger signal generated after the reset key is pressed, and adjusting the current pose state of the laryngoscope device to an initial pose state.
10. A laryngoscope teleoperation device, the laryngoscope teleoperation device comprising:
a processor;
the laryngoscope device comprises a plurality of actuating instruments, and each actuating instrument is electrically connected with the processor;
the teleoperation device comprises two teleoperation control handles and a plurality of function keys; and each teleoperation control handle and each function key are respectively and electrically connected with the processor.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311316732.7A CN117297529A (en) | 2023-10-11 | 2023-10-11 | Operation control method of laryngoscope device and remote operation equipment of laryngoscope |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311316732.7A CN117297529A (en) | 2023-10-11 | 2023-10-11 | Operation control method of laryngoscope device and remote operation equipment of laryngoscope |
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| CN117297529A true CN117297529A (en) | 2023-12-29 |
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| CN (1) | CN117297529A (en) |
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