TWI635847B - Correction control system, control device and drive end - Google Patents

Abstract

A control device is adapted to control the displacement of a controlled component in a control coordinate system and to connect to a drive end carrying the controlled component via a communication network, the control device comprising a communication unit connected to the communication network , a sensing unit and a processing unit. The sensing unit senses the orientation of the control device. After the processing unit of the control device receives the pointing of the driving end, and receives the pointing from the sensing device of the sensing unit, the processing unit generates a correction angle according to the pointing of the driving end and the pointing of the control device, and The pointing of the control device and the correction angle to the drive end are transmitted via the communication unit.

Description

Correction control system, control device and drive end

The invention relates to a control system, in particular to a correction control system, a control device and a drive end which can be controlled according to a user's perspective.

In the past, when a doctor performed an operation, an assistant was needed to help support the endoscope and move the endoscope according to the doctor's instructions to adjust the angle of view taken by the endoscope. However, this method requires a manpower to assist the operation. It is inconvenient.

Referring to FIG. 1 and FIG. 2, in order to save labor costs, Japanese Patent No. 2014094039 "Endoscope Operating System" discloses an endoscope operating system which is transmitted by a head mounted control device 1 worn on the head of a physician. A control signal is applied to an endoscope supporting robot 3 to control the endoscope supporting robot 3 to move an endoscope 2. The head mounted control device 1 includes a sensor 11 such as a gyroscope or an accelerometer, and a processor 12 electrically connected to the sensor 11. The sensor 11 senses the head posture of the physician to generate a control output and transmits to the processor 12, and the processor 12 generates a control signal according to the control output and transmits the control signal to the endoscope supporting robot 3. Thereby, during the operation, the physician can conveniently control the movement of the endoscope 2 by rotating the head, without the assistant supporting the endoscope 2 and moving the endoscope 2 according to the instruction of the physician. .

However, during the operation, the endoscope supporting robot 3 is fixedly mounted at a specific position near the operating bed, but the physician changes its orientation facing the operating bed when the physician changes his or her face to the operating bed. The relative positional relationship between the physician and the endoscope supporting robot 3 is also changed. At this time, the physician uses the head mounted control device 1 to transmit the control signal to the endoscope supporting robot 3, with a view to The endoscope supporting robot 3 moves the endoscope 2 according to a desired moving direction desired by the physician. However, the endoscope supporting robot 3 actually moves an actual moving direction of the endoscope 2 according to the control signal. This desired direction of movement is different from what the physician desires.

Referring to FIG. 2, FIG. 3 and FIG. 4, for example, during the operation, the physician initially stands on the opposite side of the endoscope supporting robot 3 (see FIG. 2), when the physician desires the inside. When the mirror 2 is moved to the right of the physician, when the head of the physician rotates to the right, the head mounted control device 1 transmits a control signal related to a first direction 100 to the endoscope supporting robot 3 to Controlling the endoscope supporting robot 3 to move the endoscope 2 to the right of the current physician's position, and then the physician moves to the side of the endoscope supporting robot 3 in response to the need of the surgery, that is, the physician changes the face The orientation of the operating bed (see Fig. 3). At this time, when the physician desires that the endoscope 2 is moved to the right of the physician, the head of the physician is transferred to the right when the head of the physician is rotated to the right. The control signal in the first direction 100 to the endoscope supporting robot 3 to control the endoscope supporting robot 3 to move the endoscope 2 to the left of the current physician's position, although the physician also expects the inside The mirror 2 moves to the right of the physician, however, due to The physician has changed his or her orientation towards the operating bed, at which point the physician desires to move the desired direction of movement of the endoscope 2 to the right of the current physician's position, and expects that the desired movement of the endoscope 2 is as shown in FIG. The actual movement direction of the endoscope 2 is actually moved to the left of the current position of the physician according to the control signal, and the actual movement result of the endoscope 2 is shown in FIG. 3. Shown. This will result in the physician not being able to intuitively control the endoscope 2 from the perspective of the physician when controlling the endoscope 2 with the head-mounted control device 1, thus causing confusion and inconvenience in use.

Accordingly, it is an object of the present invention to provide a correction control system that intuitively controls the controlled component from the perspective of the user to enhance ease of use.

Thus, the calibration control system of the present invention is adapted to control a controlled component and includes a control device and a drive terminal.

The control device is adapted to be worn or carried by a user, and controls the displacement of the controlled component in a control coordinate system, and includes a communication unit, a sensing unit and an electrical connection unit and the sensing The processing unit of the unit.

The communication unit is connected to a communication network.

The sensing unit senses the orientation of the control device.

The driving end includes a communication module, a sensing module, a carrying mobile module, and a processing module electrically connected to the communication module, the sensing module and the carrying mobile module.

The communication module is connected to the communication network and can communicate with the control device.

The sensing module senses the orientation of the driving end.

The bearer moving module carries the controlled component and moves the controlled component in a moving coordinate system.

After the processing unit of the control device receives the pointing from the sensing device of the sensing unit, the processing unit transmits the pointing of the control device to the driving end via the communication unit, and the processing module at the driving end After receiving the pointing of the control device and receiving the pointing from the driving end of the sensing module, the processing module corrects the moving coordinate system according to the pointing of the driving end and the pointing of the control device.

Another object of the present invention is to provide a control device that can intuitively control the controlled component from the perspective of the user to improve ease of use.

Thus, the control device of the present invention is adapted to be worn or carried by a user and controls the displacement of a controlled component in a control coordinate system and is coupled to a drive end carrying the controlled component via a communication network. The control device comprises a communication unit, a sensing unit and a processing unit electrically connected to the communication unit and the sensing unit.

The communication unit is connected to the communication network.

The sensing unit senses the orientation of the control device.

Wherein, after the processing unit of the control device receives the pointing of the driving end and receives the pointing from the sensing device of the sensing unit, the processing unit generates a correction angle according to the pointing of the driving end and the pointing of the control device. And transmitting, by the communication unit, the pointing of the control device and the correction angle to the driving end.

It is still another object of the present invention to provide a drive end that can intuitively control the controlled component from the perspective of the user to improve ease of use.

Therefore, the driving end of the present invention carries a controlled component and is connected to a control device via a communication network. The driving terminal comprises a communication module, a sensing module, a carrying mobile module, and an electrical connection. The module, the sensing module and the processing module carrying the mobile module.

The communication module is connected to the communication network.

The sensing module senses the orientation of the driving end.

The bearer moving module carries the controlled component and moves the controlled component in a moving coordinate system.

After the processing module of the driving end receives the pointing of the control device and receives the pointing from the driving end of the sensing module, the processing module generates a pointer according to the pointing of the driving end and the pointing of the control device. The angle is corrected and the motion coordinate system is corrected based on a rotation matrix associated with the correction angle.

The effect of the present invention is that the correction angle is generated by the processing module of the driving end according to the pointing of the driving end and the pointing of the control device, and the moving coordinate system is corrected according to the rotation matrix to achieve the intuition according to the user's perspective. The purpose of controlling the controlled component is controlled by the control device.

Referring to Figures 5 and 6, an embodiment of the calibration control system 4 of the present invention is adapted to control a controlled component 7 and includes a control device 5 and a drive terminal 6. In this embodiment, the controlled component 7 is an image capturing module such as an endoscope, an angle mirror or a camera, but is not limited thereto.

The control device 5 is adapted to be worn or carried by a user and is in a control coordinate system 900 The shift of the controlled element 7 is controlled. The control device 5 includes a communication unit 51, a sensing unit 52, an instruction output unit 53, a control confirmation unit 54, and an electrical connection unit 51, the sensing unit 52, the command output unit 53, and the control The processing unit 55 of the confirmation unit 54. In the present embodiment, the control device 5 is implemented as a head mounted control device 5, the communication unit 51 includes, for example, a Bluetooth, and the sensing unit 52 includes, for example, a magnetometer, a magnetic field sensor, and a magnetic group. An inductive component, a giant magnetoresistance meter, or an electronic compass, the command output unit 53 includes, for example, a gyroscope, an accelerometer, or an angle gauge, and the control confirmation unit 54 includes, for example, an input module including a touch button. , but not limited to this.

The communication unit 51 is connected to a communication network 8 and can communicate with the drive terminal 6.

The sensing unit 52 senses the pointing of the control device 5 and transmits the pointing of the control device 5 to the processing unit 55. It is worth mentioning that the pointing device of the control device 5 is the control coordinate system 900. The direction of the negative y ₁ . In the example shown in FIG 6, since a magnetic north 800 and a negative y ₁ in the same direction, so that the sensing direction of the sensing unit 52 senses a control means 5 and the magnetic north of the angle 800 is 0.

The command output unit 53 generates a control output related to the controlled component 7 via the operation of the user and transmits the control output to the processing unit 55. In the present embodiment, the command output unit 53 senses movement of the user's head to generate the control output associated with one of the user's control of the steering, however, in other embodiments of the invention, the command The output unit 53 can also be implemented as an input module including six buttons of front, back, left, right, up, and down. At this time, the command output unit 53 is returned to the input operation of the user. The control output of one of the buttons.

The control confirmation unit 54 generates a control confirmation signal in response to another input operation of the user, and transmits the control confirmation signal to the processing unit 55.

The driving terminal 6 includes a communication module 61, a sensing module 62, a carrying mobile module 63, and a processing module electrically connected to the communication module 61, the sensing module 62, and the carrying mobile module 63. Group 64. In this embodiment, the driving end 6 is implemented as a mechanical arm, and the communication module 61 and the communication unit 51 are similar in structure and function, and include, for example, a Bluetooth, the sensing module 62 and the sensing unit. 52 is similar in structure and function, and includes, for example, a magnetometer, a magnetic field sensor, a magnetic group sensing element, a giant magnetoresistance meter, or an electronic compass. The carrier moving module 63 includes, for example, a carrier. A carrier of the controlled component 7, and a drive unit for driving the carrier, such as a motor or an actuator, but is not limited thereto.

The communication module 61 is connected to the communication network 8 and can communicate with the control device 5.

The sensing module 62 senses the orientation of the driving end 6.

The bearer moving module 63 carries the controlled component 7 and is in an moving coordinate system 901. The controlled component 7 is moved in the middle. It is worth mentioning that the pointing end of the driving end 6 is the moving coordinate system 901. Pointing in y ₂ . In the example shown in FIG. 6 , since the magnetic north direction 800 is in the same direction as y ₂ , the angle between the direction of the driving end 6 and the magnetic north direction 800 sensed by the sensing unit 52 is zero. In this embodiment, the manner in which the bearer moving module 63 moves the controlled component 7 is a precise virtual center point (RCM) motion mode.

After the processing unit 55 of the control device 5 receives the pointing from the control device 5 of the sensing unit 52, the processing unit 55 transmits the pointing of the control device 5 to the driving terminal 6 via the communication unit 51, After the processing module 64 of the driving terminal 6 receives the pointing of the control device 5 and receives the pointing from the driving end 6 of the sensing module 62, the processing module 64 according to the pointing of the control device 5, Controlling the carrying movement module 63 to rotate the orientation of the controlled component 7, and the processing module 64 generates a correction angle according to the pointing of the driving end 6 and the pointing of the control device 5. And according to a correction angle Related rotation matrix Correct the motion coordinate system 901 Where the correction angle For the angle between the pointing of the driving end 6 and the pointing of the control device 5, the corrected moving coordinate system . In this embodiment, the correction angle It is generated by the processing module 64 of the driver 6. However, in other embodiments of the invention, the correction angle may also be generated by the processing unit 55 of the control device 5. If the correction angle is generated by the processing unit 55 After receiving the pointing from the driving end 6 of the sensing module 62, the processing module 64 of the driving end 6 transmits the pointing of the driving end 6 to the control device 5. After the processing unit 55 of the control device 5 receives the pointing of the driving end 6, and receives the pointing from the sensing device 5 of the sensing unit 52, the processing unit 55 according to the pointing of the driving end 6 and the control The pointing of the device 5 produces the corrected angle And transmitting the corrected angle via the communication unit 51 Up to the driving end 6, so that the driving end 6 is according to the correction angle Correct the motion coordinate system 901 . It is worth mentioning that at this correction angle In the embodiment generated by the processing module 64 of the driving terminal 6, the control device 5 further includes an input unit (not shown), and the control device 5 can switch to an input signal in response to the input signal of the input unit. In the calibration mode, when the control device 5 is operated in the calibration mode, the processing unit 55 transmits the pointing of the control device 5 to the driving terminal 6 via the communication unit 51, so that the processing module 64 of the driving terminal 6 corrects The coordinate coordinate system 901 And rotating the pointing of the controlled element 7, similarly, at the corrected angle In the embodiment produced by the processing unit 55 of the control device 5, when the control device 5 is operated in the correction mode, the processing unit 55 generates the correction based on the pointing of the driving end 6 and the pointing of the control device 5. angle And the correction angle And the pointing of the control device 5 is transmitted to the driving end 6 so that the processing module 64 of the driving end 6 corrects the moving coordinate system 901 And the direction of the controlled element 7 is rotated. In use, after the user changes its location, the user operates the input unit of the control device 5 to switch the control device 5 to the correction mode, thereby correcting the motion coordinate system 901. The purpose. However, the operation mode of switching the control device 5 to the calibration mode by using the input unit of the control device 5 is only an example, and is not limited thereto.

It should be particularly noted that, in this embodiment, the controlled component 7 is an image capturing module, and in order to control the controlled component 7 according to the perspective of the user, the pointing of the controlled component 7 and the control The pointing of the device 5 is consistent. Therefore, the processing module 64 controls the carrying module 63 to rotate the pointing of the controlled component 7 according to the pointing of the control device 5, so that the pointing of the controlled component 7 is The directions of the control device 5 are identical. Initially, the pointing of the controlled component 7 is preset to coincide with the pointing of the driving end 6. Therefore, the driving end 6 can adjust the controlled according to the pointing of the driving end 6 and the pointing of the control device 5. The pointing of the element 7. After the driving end 6 adjusts the orientation of the controlled component 7, the driving terminal 6 records the adjusted orientation of the controlled component 7, when the pointing of the control device 5 and the recorded controlled component 7 When the pointing is not the same, the driving end 6 can adjust the pointing of the controlled component 7 according to the recorded orientation of the controlled component 7 and the pointing of the control device 5, and the previously recorded controlled component 7 The pointer points to the latest adjusted adjusted orientation of the controlled component 7. 9 and FIG. 10, when the user is located opposite the driving end 6, the pointing of the controlled component 7 is preset to coincide with the pointing of the driving end 6. At this time, the control is utilized. The endoscope mirror image 700 captured by the component 7 is an upright flower as shown in FIG. 9. When the user moves to the same side of the driving end 6, the direction of the control device 5 and the magnetic north The angle of the direction 800 is 180 degrees, and the processing module 64 controls the carrying module 63 to rotate the pointing of the controlled component 7 according to the pointing of the control device 5, so that the pointing of the controlled component 7 is The pointing of the control device 5 is uniform (that is, the direction of the controlled component 7 is adjusted to be 180 degrees from the magnetic north direction 800), and after the pointing of the controlled component 7 is adjusted, the control component 7 is used to shoot The endoscope screen 700 is shown as an inverted flower as shown in FIG.

Continuing to refer to FIG. 5 and FIG. 6, the processing unit 55 of the control device 5 receives the control confirmation signal from the control confirmation unit 54 and simultaneously receives the control from the command output unit 53 and related to the user. After the control output of the steering, the processing unit 55 transmits a control signal related to the control output and including the control steering to the driving terminal 6 via the communication unit 51, wherein the control steering is, for example, a control coordinate system 900 The rotation angle of the z ₁ axis rotation, a winding around the control coordinate system 900 The angle of rotation of the x ₁ axis and a rotation around the control coordinate system 900 One of the corners of the y ₁ axis rotation. After the processing module 64 of the driving terminal 6 receives the control signal, the processing module 64 obtains a moving direction according to the control of the control signal, and according to the moving direction and the shooting lens of the controlled component 7 Relative to the corrected motion coordinate system One-dimensional coordinate Using a reverse kinematics to control the carrier moving module 63 to correct the motion coordinate system The controlled component 7 is moved in the middle to move the photographing lens of the controlled component 7 in the moving direction. It is worth noting that when the control is turned into a control coordinate system 900 When the z ₁ axis rotates clockwise, the processing module 64 controls the carrying movement module 63 to correct the moving coordinate system Rotating the controlled component 7 in such a manner that the end of the controlled component 7 remote from the carrying moving module 63 (that is, the end provided with the taking lens) is in the moving direction as the corrected moving coordinate system The positive movement of the x' ₂ axis. When the control is turned into a control coordinate system 900 When the z ₁ axis rotates counterclockwise, the processing module 64 controls the carrier moving module 63 to correct the moving coordinate system Rotating the controlled component 7 in such a manner that the end of the controlled component 7 remote from the carrying moving module 63 (that is, the end provided with the taking lens) is in the moving direction as the corrected moving coordinate system The negative movement of the x' ₂ axis. When the control is turned into a control coordinate system 900 When the x ₁ axis rotates clockwise, the processing module 64 controls the carrier moving module 63 to correct the motion coordinate system Rotating the controlled component 7 in such a manner that the end of the controlled component 7 remote from the carrying moving module 63 (that is, the end provided with the taking lens) is in the moving direction as the corrected moving coordinate system The positive movement of the y' ₂ axis. When the control is turned into a control coordinate system 900 When the x ₁ axis rotates counterclockwise, the processing module 64 controls the carrying movement module 63 to correct the moving coordinate system Rotating the controlled component 7 in such a manner that the end of the controlled component 7 remote from the carrying moving module 63 (that is, the end provided with the taking lens) is in the moving direction as the corrected moving coordinate system The negative movement of the y' ₂ axis. When the control is turned into a control coordinate system 900 When the y ₁ axis rotates clockwise, the processing module 64 controls the carrier moving module 63 to correct the motion coordinate system Translating the controlled component 7 so that the end of the controlled component 7 remote from the carrying moving module 63 (that is, the end provided with the taking lens) is in the moving direction as the corrected moving coordinate system The negative movement of the z' ₂ axis. When the control is turned into a control coordinate system 900 When the y ₁ axis rotates counterclockwise, the processing module 64 controls the carrier moving module 63 to correct the motion coordinate system Translating the controlled component 7 so that the end of the controlled component 7 remote from the carrying moving module 63 (that is, the end provided with the taking lens) is in the moving direction as the corrected moving coordinate system The positive movement of the z' ₂ axis.

With the example shown in FIG. 6, the pointing end of the driving end 6 is the same as the pointing of the control device 5, so the correction angle is 0, when the command output unit 53 senses the left and right rotation of the user's head to generate a control steering related to one of the users, such as turning to the right (ie, around the control coordinate system 900) After the control output of the z ₁ axis clockwise rotation angle), the processing unit 55 via the communication control unit 51 including the steering control signal is transmitted to the drive end 6, in the driving end of the processing module 6 After receiving the control signal, the processing module 64 controls the bearer moving module 63 to adjust the motion coordinate system (the motion coordinate system corrected in the example illustrated in FIG. 6). Same as the motion coordinate system 901 Rotating the controlled component 7 (i.e., causing the controlled component 7 to move away from the end of the carrying module 63 toward the moving coordinate system 901) The positive movement of the x ₂ axis). In addition, in the example of the example shown in FIG. 7, the pointing end of the driving end 6 is the same as the pointing of the control device 5, so the correction angle is 0, when the command output unit 53 senses the up and down rotation of the user's head to generate a control steering related to one of the users, such as upward rotation (ie, around the control coordinate system 900) After the control output of the x ₁ axis counterclockwise rotation angle, the processing unit 55 transmits a control signal including the control steering to the driving terminal 6 via the communication unit 51, and the processing module at the driving end 6 After receiving the control signal, the processing module 64 controls the bearer moving module 63 to adjust the motion coordinate system (the motion coordinate system corrected in the example illustrated in FIG. 7). Same as the motion coordinate system 901 Rotating the controlled component 7 (i.e., causing the controlled component 7 to move away from the end of the carrying module 63 toward the moving coordinate system 901) The negative movement of the y ₂ axis). From the perspective of the user, the user's head is rotated to the right to control the one end of the controlled component 7 provided with the photographing lens to be yawed to the right, and the user's head is rotated upward to control the quilt. The control element 7 is provided with one end of the taking lens being yawed rearward. Even if the orientation of the control device 5 is changed, the motion coordinate system 901 can be corrected by the drive terminal 6. So that the user can intuitively control the controlled component 7 by the control device 5 according to his viewing angle. Moreover, with the example shown in FIG. 8, the user moves to the same side as the driving end 6. Position, at this time, the angle between the direction of the control device 5 and the magnetic north direction 800 is 180 degrees, and the pointing of the driving end 6 is 180 degrees from the pointing of the control device 5, so the correction angle 180 degrees, the drive end 6 is based on the correction angle Correct the motion coordinate system 901 To obtain the corrected motion coordinate system 902 as shown in FIG. When the command output unit 53 senses the left and right rotation of the user's head to generate a control steering related to one of the users, such as turning to the right (ie, around the control coordinate system 900) After the control output of the z ₁ axis clockwise rotation angle), the processing unit 55 via the communication control unit 51 including the steering control signal is transmitted to the drive end 6, in the driving end of the processing module 6 After receiving the control signal, the processing module 64 controls the bearer moving module 63 to the corrected motion coordinate system 902. Rotating the controlled component 7 (i.e., causing the controlled component 7 to move away from the end of the carrier moving module 63 toward the corrected motion coordinate system 902 The positive movement of the x' ₂ axis).

If the user generates the control output by using an input module including six buttons of front, back, left, right, up, and down, then when the input operation of the user is pressing the button "before", Controlling the end of the controlled component 7 provided with the photographing lens to be forwardly biased, and when the input operation of the user is pressing the button "after", the end of the controlled component 7 provided with the photographing lens can be controlled to be backward. When the user's input operation is to press the button "left", the one end of the controlled component 7 provided with the photographing lens can be controlled to be yawed to the left, and when the input operation of the user is a press button When "right", the one end of the controlled component 7 provided with the photographing lens can be controlled to be yawed to the right. When the input operation of the user is "pressing" the button, the controlled component 7 can be controlled. The end provided with the shooting lens is translated upwards. When the input operation of the user is pressing the button "down", the end of the controlled component 7 provided with the shooting lens can be controlled to translate downward.

It is worth mentioning that, in order to improve the convenience and security of the user control, in the embodiment, the processing unit 55 of the control device 5 only receives the control confirmation signal from the control confirmation unit 54. When the control button of the control confirmation unit 54 is not touched by the user, the processing unit 55 of the control device 5 does not transmit the control signal to the control terminal 55. The driving end 6 , therefore, in the case that the touch button of the control confirming unit 54 is not pressed by the user, the user can be in any posture without worrying that the posture affects the controlled component 7 , When the control signal is abnormal, the user can also stop the control by immediately stopping the touch control button of the control confirmation unit 54 to improve the safety of the control. Furthermore, in order to further enhance the convenience and security of the user control, in another embodiment of the present invention, the control unit 55 of the control device 5 receives the control confirmation signal from the control confirmation unit 54, After receiving the control output from the command output unit 53 and related to the control steering of the user, the processing unit 55 first determines whether the rotation angle indicated by the control steering of the control output is greater than a threshold value. When the processing unit 55 determines that the rotation angle indicated by the control steering of the control output is greater than the threshold value, the processing unit 55 transmits the control signal related to the control output and including the control steering to the communication unit 51 via the communication unit 51. The driving unit 6 does not transmit any control signal to the driving end 6 when the processing unit 55 determines that the rotation angle indicated by the control steering of the control output is less than or equal to the threshold value. Thereby, the user's head can be prevented from shaking slightly, and the processing unit 55 is triggered to transmit the control signal to the driving terminal 6 via the communication unit 51.

In summary, the correction control system 4 of the present invention controls the bearing movement module 63 to rotate the orientation of the controlled component 7 by the processing module 64 of the driving terminal 6 according to the pointing of the control device 5, so that The photographing direction of the controlled component 7 coincides with the pointing of the control device 5, thereby achieving the purpose of intuitively controlling the controlled component 7 according to the viewing angle of the user. In addition, the processing module 64 of the driving end 6 generates the correction angle according to the pointing of the driving end 6 and the pointing of the control device 5, and corrects the moving coordinate system 901 according to the rotation matrix. In order to achieve the purpose of controlling the controlled element 7 intuitively by the control device 5 from the perspective of the user, the object of the present invention can be achieved.

However, the above is only the embodiment of the present invention, and the scope of the invention is not limited thereto, and all the simple equivalent changes and modifications according to the scope of the patent application and the patent specification of the present invention are still Within the scope of the invention patent.

1‧‧‧ head mounted controls

11‧‧‧ Sensor

12‧‧‧ Processor

2‧‧‧Endoscope

3‧‧‧Endoscope support robot

100‧‧‧First direction

4‧‧‧Correction Control System

5‧‧‧Control device

51‧‧‧Communication unit

52‧‧‧Sensor unit

53‧‧‧Command output unit

54‧‧‧Control confirmation unit

55‧‧‧Processing unit

6‧‧‧Driver

61‧‧‧Communication module

62‧‧‧Sensor module

63‧‧‧ Carrying mobile module

64‧‧‧Processing module

7‧‧‧Controlled components

700‧‧‧Endoscope screen

8‧‧‧Communication network

800‧‧‧Magnetic direction

900‧‧‧Control coordinate system

901‧‧‧Sports coordinate system

902‧‧‧Corrected motion coordinate system

Other features and advantages of the present invention will be apparent from the embodiments of the present invention, wherein: Figure 1 is a block diagram of a conventional head-mounted control device; Figure 2 is a schematic view showing a physician in a first One position utilizes an existing head-mounted control device in conjunction with an endoscope to support the robotic arm to control an endoscope; FIG. 3 is a schematic illustration of the physician using a conventional head-mounted control device in conjunction with the endoscope support in a second position The robotic arm controls the endoscope; FIG. 4 is a schematic diagram illustrating the physician's use of the existing headgear control device to control the desired movement result of the endoscope in the second position; FIG. 5 is a block diagram illustrating the correction of the present invention. Embodiment of the control system; FIG. 6 is a schematic diagram showing a user controlling a controlled component using the embodiment of the calibration control system of the present invention in the first position; FIG. 7 is a schematic diagram showing the user at the first Position controls the controlled component using an embodiment of the calibration control system of the present invention; FIG. 8 is a schematic diagram illustrating the user using the calibration control system of the present invention in the second position The embodiment controls the controlled component; FIG. 9 is a schematic diagram showing the endoscope mirror seen by the user in the first position using the embodiment of the calibration control system of the present invention; and FIG. 10 is a schematic diagram illustrating the The user utilizes the endoscope view seen by the embodiment of the present invention to correct the control system in the second position.

Claims (5)

A correction control system adapted to control a controlled component including a shooting lens and comprising: a control device adapted to be worn or carried by a user, and controlling displacement of the controlled component in a control coordinate system, And comprising a communication unit, connected to a communication network, a sensing unit, sensing the pointing of the control device, an instruction output unit, generating a control output related to the controlled component via the operation of the user, and processing The unit is electrically connected to the communication unit, the sensing unit and the command output unit, and a driving end, comprising a communication module, connected to the communication network, and capable of communicating with the control device, a sensing module, and sensing Pointing at the driving end, carrying a mobile module, carrying the controlled component, and moving the controlled component in a moving coordinate system, and a processing module electrically connecting the communication module, the sensing module, and the Carrying a mobile module; wherein, after the processing unit of the control device receives the pointing of the control device from the sensing unit, the processing unit loads the control via the communication unit Pointing transmitted to the drive end, the received points to the control means in the processing module of the driving end, and receives the pointer to the drive side from the sensing module after the processing module according to point to the driving end and the Pointing at the control device to correct the motion coordinate system, after the processing unit receives the control output from the command output unit, the processing unit transmits a control signal related to the control output to the drive terminal via the communication unit After the processing module receives the control signal, the processing module controls the bearer moving module to move the controlled component in the corrected motion coordinate system according to the control signal, where the The command output unit senses the movement of the user to generate the control output related to one of the user's control of the steering. After the processing module receives the control signal, the processing module receives the control signal according to the control signal. Obtaining a moving direction, and controlling the carrying moving module to be used after the correction according to the moving direction and a photographing lens of the controlled component relative to a corrected three-dimensional coordinate of the moving coordinate system with a reverse kinematics The controlled component is moved in the moving coordinate system to move the photographing lens of the controlled component in the moving direction. The correction control system of claim 1, wherein the processing module obtains a correction angle according to the pointing of the driving end and the pointing of the control device, and corrects the moving coordinate system according to a rotation matrix related to the correction angle. . The correction control system of claim 1, wherein after the processing module of the driving end receives the pointing of the control device, the processing module further controls the carrying mobile module to rotate according to the pointing of the control device. The pointing of the controlled component. A driving end carries a controlled component including a shooting lens and is connected to a control device via a communication network, the driving end comprising: a communication module is connected to the communication network; a sensing module senses the pointing of the driving end; a carrying mobile module carries the controlled component, and moves the controlled component in a moving coordinate system; and The processing module is electrically connected to the communication module, the sensing module and the carrying mobile module; wherein the processing module at the driving end receives the pointing of the control device and receives the sensing module After the driving end is pointed, the processing module generates a correction angle according to the pointing of the driving end and the pointing of the control device, and corrects the moving coordinate system according to a rotation matrix related to the correction angle, and the processing mode at the driving end After receiving the control signal related to the controlled component, the processing module controls the bearer moving module to move the controlled component in the corrected motion coordinate system according to the control signal, wherein the control The signal is controlled by one of the users, and after the processing module receives the control signal, the processing module obtains a moving direction according to the control signal, and And the moving movement module is controlled to move the quilt in the corrected motion coordinate system according to the moving direction and the photographing lens of the controlled component relative to a corrected three-dimensional coordinate of the moving coordinate system with a reverse kinematics The component is controlled to move the lens of the controlled component in the moving direction. The driving end according to claim 4, wherein after the processing module of the driving end receives the pointing of the control device, the processing module further controls the carrying mobile module to rotate the quilt according to the pointing of the control device. The pointing of the control element.