WO2023025219A1

WO2023025219A1 - Method, device and system for identifying operator of medical robot

Info

Publication number: WO2023025219A1
Application number: PCT/CN2022/114654
Authority: WO
Inventors: 范宏伟; 严加强; 齐金标; 安鹏毅
Original assignee: 上海微创医疗机器人（集团）股份有限公司
Priority date: 2021-08-27
Filing date: 2022-08-25
Publication date: 2023-03-02
Also published as: CN113779533B; CN113779533A

Abstract

A method for identifying the operator of a medical robot comprises: collecting operator biometrics to be compared; comparing said biometrics against standard biometrics; when the comparison is a success, obtaining operation qualifications corresponding to the standard biometrics; in accordance with the operation qualifications, determining whether the operator has permission to operate the medical robot, and outputting a determination result.

Description

Operator identification method, device and system for medical robot

Cross References to Related Applications

This application claims the priority of the Chinese patent application with the application number 2021109983198 and the title of "Operator Identification Method, Device and System for Medical Robots" submitted to the China Patent Office on August 27, 2021, the entire content of which Incorporated in this application by reference.

technical field

The present application relates to an operator identification method, device and system for a medical robot.

Background technique

Medical robot is a kind of intelligent service robot, which is used for medical treatment or auxiliary medical treatment in hospitals and clinics. It can independently compile the operation plan, determine the action program according to the actual situation, and then turn the action into the movement of the operating mechanism.

In the traditional technology, the identification of the user of the medical robot is realized by inputting the identification and the like.

However, the inventor realizes that the current method of identity confirmation by inputting an identity mark cannot prevent other people from using a medical robot instead after entering the identity mark, and it cannot prevent untrained doctors from obtaining the identity mark through abnormal means To use medical robots, etc., resulting in defects in the identification of current users of medical robots.

Contents of the invention

According to various embodiments disclosed in the present application, an operator identification method, device and system for a medical robot are provided.

An operator identification method for a medical robot, comprising:

Collect the biological characteristics of the operator to be compared;

Comparing the biological feature to be compared with the standard biological feature;

Obtain the operation qualification corresponding to the standard biometrics successfully compared; and

It is judged according to the operation qualification whether the operator has the authority to operate the medical robot, and a judgment result is output.

An operator identification device for a medical robot, the device is applied before and/or during use of the medical robot, including:

The collection module is used to collect the biological characteristics of the operator to be compared;

A comparison module, configured to compare the biological characteristics to be compared with standard biological characteristics;

The operation qualification acquisition module is used to obtain the operation qualification corresponding to the successful comparison standard biometric; and

The authority determination module is used to determine whether the operator has the authority to operate the medical robot according to the operation qualification.

An operator identification system for a medical robot, comprising:

medical robots;

A biometric feature collection device, the biometric feature collection device is installed on the medical robot or the biometric feature collection device is in communication with the medical robot, and the biometric feature collection device is used to collect the biological characteristics of the operator to be compared characteristics; and

A processor, the processor communicates with the medical robot and the biological feature collection device respectively, and the processor is used for the operator identification method for the medical robot described in any one of the above embodiments to determine whether the operator Has the authority to operate medical robots.

A computer device comprising a memory and one or more processors, the memory having stored therein computer readable instructions which, when executed by the processor, cause the one or more processors to perform The following steps:

Collect the biological characteristics of the operator to be compared;

The above-mentioned operator identification method, device and system for medical robots can collect the biological characteristics of the operator to be compared through the biological characteristic collection device before and/or during use of the medical robot, and then compare the biological characteristics with the Compared with the standard biometrics to determine the corresponding operating qualifications, so as to determine whether the operator has the authority to operate the medical robot, since it can be collected at any time before and/or during use, and the biometrics cannot be obtained by others, so it is not There are defects such as fraudulent use, which makes identification more accurate.

The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below. Other features and advantages of the application will be apparent from the description, drawings, and claims.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the accompanying drawings that need to be used in the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For Those of ordinary skill in the art can also obtain other drawings based on these drawings without making creative efforts.

FIG. 1 is a schematic diagram of an operator identification system for a medical robot according to one or more embodiments;

Fig. 2 is a module block diagram of an operator identification system for a medical robot according to one or more embodiments;

Fig. 3 is a schematic flowchart of an operator identification method for a medical robot according to one or more embodiments;

Fig. 4 is a schematic flowchart of an operator identification method for a medical robot according to another or more embodiments;

Figure 5 is a flowchart of preprocessing steps according to one or more embodiments;

FIG. 6 is a flow chart according to step S304 in the embodiment shown in FIG. 3;

FIG. 7 is a flowchart of state detection steps according to one or more embodiments;

Fig. 8 is a flow chart of the attitude adjustment steps according to one or more embodiments;

Fig. 9 is a specific flowchart of an operator identification method for a medical robot according to one or more embodiments;

Fig. 10 is a block diagram of an operator identification device for a medical robot according to one or more embodiments;

Figure 11 is a block diagram of a computer device in accordance with one or more embodiments.

Detailed ways

In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.

The operator identification method for medical robots provided in this application can be applied to the operator identification system for medical robots as shown in FIG. 1 . The operator identification system for a medical robot includes a medical robot, a biometric collection device and a processor. The biometric collection device is installed on the medical robot or the biometric collection device is not installed on the medical robot. Optionally, the biometric When the feature collection device is installed on the medical robot, the biological feature collection device includes the iris collection device 102 installed in the eyepiece 101 of the medical robot, the manipulation mechanism 103 installed on the medical robot, such as the fingerprint collection device 104 on the operator's hand, the installation One or more of the face recognition equipment on the medical robot and the blood feature collection equipment installed on the operating mechanism of the medical robot; when the biometric collection equipment is not installed on the medical robot, the biometric collection equipment and the medical robot Communication connection, the biometric collection device is an independent collector, which is connected to the medical robot or transmitted to the medical robot database through a U disk, network cable, network port, etc. As shown in FIG. 1 , the processor stores a program for the identification method of the operator of the medical robot, which can control the biological feature collection device installed on the medical robot. Optionally, a processor may be set separately for each biological feature collection device, or multiple biological feature collection devices correspond to the same processor. The processor collects the operator's biometrics to be compared through the biometrics collection device; compares the biometrics to be compared with the standard biometrics; obtains the operating qualification corresponding to the successful comparison of the standard biometrics; judges the operator according to the operating qualification Whether it has the authority to operate medical robots. Since it can be collected before and/or during use, and the biometrics cannot be obtained by others, there are no defects such as fraudulent use, making identification more accurate.

As shown in FIG. 2, each biometric feature collection device and its corresponding processor can be separate or each biometric feature collection device shares a processor. If it is a separate processor, each processor will The collected biological features to be compared are processed separately, and the results are output. If a processor is shared, the processors can process the biological features to be compared collected by the biological feature collection device in parallel.

Taking a separate processor as an example for illustration, the processor corresponding to the iris feature collection device may include processing of identity recognition based on the biological features to be compared, processing of operator status detection based on the biological features to be compared, and processing of At least one of the processing such as performing robot pose optimization on the basis of biometric features. The processor of the fingerprint collection device may include at least one of the processing of identity recognition according to the biological characteristics to be compared and the processing of robot pose optimization according to the biological characteristics to be compared.

The iris feature collection device and the corresponding processor are called the iris recognition system, and the fingerprint collection device and the corresponding processor are also called the fingerprint recognition system. The iris recognition system is placed in the eyepiece of the medical robot; the fingerprint recognition system is placed in the medical robot. The manipulating mechanism of the robot, such as the operator's hand;

The iris recognition system includes an identity authentication module, a status monitoring module, and a habit optimization module; the identity authentication module refers to the authentication of the operator's identity through the iris recognition system in an irregular manner, and the process includes authority review; authority review refers to By comparing the operator's title, experience, etc., it is determined whether the operator has the operating qualification; the status monitoring module refers to monitoring the operator's status through the iris recognition system in an irregular manner, and prompting the operation by judging the characteristics of the eyeball, etc. The operator is in a sleepy or uncomfortable state, and make corresponding prompts or attentions; the habit optimization module refers to recording the operator’s usage habits based on identity authentication, and can optimize the user experience by setting traceability, such as optimizing the operator’s console. attitude.

The fingerprint recognition system includes an identity authentication module and a habit optimization module; similar to the function of the iris recognition system, the identity authentication uses the fingerprint recognition system to authenticate the identity of the operator in an irregular manner. This process includes authority review to ensure double identity authentication. Security; the habit optimization function refers to recording the operator's usage habits based on identity authentication, and can optimize the user experience by setting traceability, such as optimizing the posture of the operator's console.

Specifically, in this embodiment, as shown in FIG. 1 and FIG. 2 , the medical robot in this embodiment includes a master operating device and a slave operating device, and the doctor controls the slave operating device by controlling the master operating device. The iris feature collection device is installed on the eyepiece of the main operating device, so that when the doctor observes through the eyepiece during operation, the iris feature collection device can non-inductively collect the doctor's iris features in real time. Similarly, a fingerprint collection device is installed on the operating mechanism of the main operating device, so that when the doctor manipulates the operating mechanism, the doctor's fingerprint characteristics can be collected in real time through the fingerprint collection device without feeling, and the follow-up identity comparison can be continued, thereby realizing Identification of physicians.

In some embodiments, as shown in FIG. 3 , an operator identification method for a medical robot is provided. The method is applied to the processor in FIG. 1 as an example for illustration, including the following steps:

S302: Collect the biological characteristics of the operator to be compared.

Specifically, the specific definition of the biometric feature collection device can be referred to above. If the biometric feature collection device is installed on the medical robot, it may include the iris collection device installed in the eyepiece of the medical robot, the fingerprint sensor installed in the operating mechanism of the medical robot One or more of the collection equipment, the face recognition equipment installed on the medical robot, and the blood feature recognition equipment installed on the operating mechanism of the medical robot, so that the biological characteristics to be compared can be included in the eyepiece of the medical robot The iris collection device of the medical robot collects the iris characteristics of the operator from time to time or according to the preset collection time interval; The face features of the operator collected by the face recognition equipment installed on the medical robot at irregular intervals or according to the preset collection time interval and the blood feature recognition equipment installed on the operating mechanism of the medical robot at irregular intervals or according to the preset collection time One or several of the blood characteristics collected at intervals.

The biometric feature collection device installed on the medical robot is used for collection. Without affecting the doctor's operation, the doctor's identity can be identified and the corresponding data can be recorded at any time, effectively preventing others from using the medical robot instead; Set permissions to improve security.

S304: Compare the biological feature to be compared with the standard biological feature.

Specifically, the standard biometric feature may be collected and stored in advance, for example, the standard biometric feature of each operator is collected, and the standard biometric feature is associated with the operator identification and corresponding operation qualification and then stored in the database. The collection of biometrics to be compared can be collected by a biometric collection device installed on the medical robot, or it can be collected by a biometric collection device independent of the medical robot, for example, the biometrics are collected by an independent device, and then the Biometrics are transmitted to the medical robot through U disk, network cable, network port, etc.

In this way, after the processor obtains the biological feature to be compared, the biological feature to be compared is compared with the standard biological feature stored in the database. Optionally, when performing the comparison, the processor may first obtain the type of the biological feature to be compared, and then compare it with the standard biological feature of the same type in the database.

Optionally, the standard biometric feature is the biometric feature of the operator corresponding to the current operation of the medical robot, the standard biometric feature is pre-collected, and the pre-collected standard biometric feature is associated with the medical robot for this operation in advance relationship, such as pre-configuring the biometrics corresponding to the operator required for this operation of the medical robot, so that when comparing, the processor first only compares with the standard biometrics of the operator corresponding to the current operation of the medical robot , can greatly reduce the amount of comparison. If the comparison fails, for example, after multiple comparisons, the success rate of the comparison is lower than a certain value, and the output will prompt the operator to be replaced. The processor compares the biometrics to be processed with all the standard biometrics in the database, so as to check the qualification of the operator and determine whether the operator is qualified to operate.

S306: Obtain the operation qualification corresponding to the standard biometrics that are successfully compared.

Specifically, the operation qualification is also pre-stored in the database. The operation qualification is used to indicate that the operator has the qualification to operate the corresponding medical robot. The operation qualification can be understood as qualification, operation training times, machine familiarity, etc. Optionally, multiple operation qualification types can be set in the database according to the type of medical robot, and whether the operator is qualified to operate is represented by means of flags, for example, the processor can obtain the operation corresponding to the successful comparison of standard biometrics Qualification, and then check whether the corresponding operating qualification is available according to the type of the current medical robot.

S308: Determine whether the operator has the authority to operate the medical robot according to the operation qualification.

Specifically, if the processor obtains the operation qualification of the corresponding type of medical robot, it means that the operator has the authority to operate the medical robot, and can operate the medical robot.

Optionally, if the above method is used to judge before the medical robot is used, it is determined that the operator does not have the operation authority, then the verification can be performed again, and if there is still no operation authority after multiple verifications, the medical robot is locked. If in the use of a medical robot, it is judged by the above method and it is determined that the operator does not have the authority to operate, it can be verified again. If there is still no operation authority after multiple verifications, an alarm message will be output and recorded. In order to ensure the operation The normal operation does not lock the medical robot.

Specifically, in combination with Figure 4, in practical applications, the medical robot performs a self-inspection before operation to ensure the safety of the medical robot, and then confirms the result of the identity. Before the operation, the operator's operating qualification is verified by the above method , if it passes, start the operation, and collect the operator’s biological characteristics to be compared from time to time during the operation, and verify the operator’s operation qualification through the above method. In addition, optionally, before the operation, After the operation qualification verification is passed, the posture of the medical robot can be corrected according to the operator's historical operation data. During the operation, the operator's state can also be detected through the operator's biological characteristics to be compared. For details, see below.

In the above-mentioned operator identification method for medical robots, before and/or during use of the medical robot, the biological characteristics of the operator to be compared can be collected by the biological characteristic collection device installed on the medical robot, and then the biological characteristics to be compared can be collected. The characteristics are compared with the standard biometrics to determine the corresponding operating qualifications, so as to determine whether the operator has the authority to operate the medical robot, because the biometrics can be collected before and/or during use, and the biometrics cannot be obtained by others , so there are no defects such as fraudulent use, making identification more accurate.

In some embodiments, referring to FIG. 5, FIG. 5 is a flowchart of a preprocessing step in an embodiment. In this embodiment, the preprocessing step is performed before comparing the biological characteristics to be compared with the standard biological characteristics. , the preprocessing steps include:

S502: Collect the standard biological characteristics of the operator.

Specifically, before the operation, professional training is required for the operator, and a database is established according to the operator's number and biological characteristics. During training, the processor collects the standard biological characteristics of the operator through the biological characteristic collection device.

S504: Generate configuration information according to the standard biometric feature and operator identification.

Specifically, the operator identification can be an operator number that uniquely determines the operator. In this way, the standard biometrics and the operator identification are associated to generate configuration data and stored in the database, which can facilitate subsequent queries. Optionally, in other embodiments , you can also back up the configuration information.

S506: Obtain training data corresponding to the operator.

Specifically, the training data is data that records operator training, such as surgical simulation training data using this type of robot and training data corresponding to surgical operations, including but not limited to training time and training level, etc., where the training data can be provided by professional entered into the database by the operator.

S508: According to the training data, it is judged whether the operator has the operation qualification, and if so, the operation qualification corresponding to the standard biometric feature is added to the configuration information.

Specifically, judging whether the operator is qualified to operate according to the training data may be automatically judged according to pre-stored rules in the processor, or may be input after review by a professional operator. The automatic judgment may be calculated according to training time and training level.

In the above embodiment, the basic information and biological characteristics of the operator are collected, a relevant database is established, and the training effect and operation qualification of each operator are recorded, laying the foundation for subsequent identification.

In one of the embodiments, see FIG. 6, which is a flow chart of step S304 in the embodiment shown in FIG. Performing a comparison includes: comparing the biological characteristics to be compared with the standard biological characteristics collected at least once; calculating the success rate of the comparison between the biological characteristics to be compared and the standard biological characteristics in the comparison of preset times; When the success rate meets the requirements, it is determined that the comparison between the biological characteristics to be compared and the standard biological characteristics is successful.

Specifically, after the biometrics are collected by the biometrics collection device, the processor compares the collected biometrics to be compared with the standard biometrics in the database to determine whether the operator is qualified to operate. If the operator is qualified to operate, continue to collect the next biometric feature to be compared. If the operator does not have the operating qualification, collect the biometric feature to be compared multiple times. After comparing the collected biological characteristics to be compared with the standard biological characteristics, the comparison success rate is calculated. The comparison success rate = the number of times the operator is qualified to operate / the preset number of times. If the success rate meets the requirements, for example, it is greater than a certain value, the comparison is successful, so as to continue to collect the biological characteristics to be compared next time. Optionally, when the operator does not have the authority to operate the medical robot, the prompt information that the identity does not meet the requirements is output, that is, if the success rate does not meet the requirements, for example, an alarm message is output, for example, displayed on the display or prompted by a preset device or passed A buzzer or the like is used for prompting, and no specific limitation is imposed on the prompting method here.

What needs to be explained is that if the operator is qualified to operate this time, it can be judged whether the operator has the operation qualification in a loop at irregular intervals or at longer intervals. If it is judged that the operator is not qualified to operate, the collection rules of the biological characteristics to be compared can be modified, for example, the time interval of each collection can be shortened or the preset time interval can be collected regularly or irregularly within the preset time period. The biological characteristics are to be compared several times to prevent errors caused by system errors and cause false alarms.

In the above embodiment, multiple comparisons are used to determine the comparison success rate, and then determine whether to issue an alarm, so as to ensure the accuracy of the alarm and avoid false alarms.

In one of the embodiments, after judging whether the operator has the authority to operate the medical robot according to the operation qualification, it includes: when the operator has the authority to operate the medical robot, calculate the current state of the operator according to the biological characteristics to be compared; if the current If the status does not meet the operation requirements, a status prompt message will be output.

Specifically, the current state of the operator is obtained by calculating the biological characteristics of the operator to be compared during or before the operation. Optionally, the current state of the operator is calculated according to the biological characteristics to be compared, including At least one of the following: calculating the current state of the operator according to eyelid movement characteristics and/or pupil focus positions; calculating the current state of the operator according to blood characteristics in blood vessels.

Specifically, the current state includes a normal state and an abnormal state, and the abnormal state may refer to a state of fatigue and fatigue, wherein the processor may analyze the characteristics of the operator's eyes through the iris collection device of the eyepiece, such as an iris sensor, Recognize blinking features and pupil focus positions, use algorithms to analyze the fatigue state of the operator, and if there is a state of poor state, provide operation prompts, such as displaying operator status information through an auxiliary display, or issuing voice prompts through buzzers, etc. For details, see Figure 7.

In one of the embodiments, before the above method is applied to the medical robot, after judging whether the operator has the authority to operate the medical robot according to the operation qualification, it includes: when the operator has the authority to operate the medical robot, obtain the standard biological The historical operation information corresponding to the feature; adjust the posture of the medical robot according to the historical operation information.

Specifically, as shown in Figure 8, before the operation, the medical robot is powered on for self-check, and then the operator operates the medical robot, so that the biometrics collection device can collect the biometrics to be compared, and compare them with the standard biometrics. The historical operation information is obtained, so that the processor adjusts the attitude of the medical robot according to the historical operation information.

Optionally, adjusting the posture of the medical robot according to the historical operation information includes: obtaining the operator identification corresponding to the standard biometric feature that is successfully compared; outputting the operator identification and prompt information whether to adjust the posture of the medical robot; As for the indication information of the attitude of the robot, the attitude of the medical robot is adjusted according to the indication information and historical operation information.

Specifically, in order to avoid misoperation, that is, to adjust the posture of the medical robot multiple times, the processor can output the operator's operator identification, such as the operator's name and the corresponding prompt for adjusting the posture of the medical robot after obtaining the historical operation information Information, so that the operator can determine whether to adjust the attitude of the medical robot, if so, the processor adjusts the attitude of the medical robot according to the historical operation information, otherwise the attitude of the medical robot is not adjusted.

Specifically, in order to ensure that those skilled in the art fully understand the technical solution, please refer to FIG. 9, which is a specific flow chart of an operator identification method for a medical robot in another embodiment. In this embodiment, The biometric feature collection device is illustrated by taking fingerprint collection device and iris collection device as examples, including:

Firstly, a database is generated, so that the standard biometrics of the operator who operates the medical robot and the corresponding operating qualifications are stored in the database, and when subsequent comparisons are made, they are directly compared with the standard biometrics in the database.

In the process of actual use, firstly, the medical robot performs self-inspection to ensure the safety of the medical robot.

Then use the fingerprint recognition device and iris recognition device to collect the biological characteristics to be compared. For example, the operator extracts the characteristic value of the fingerprint through the fingerprint device of the operating handle, and compares it with the standard fingerprint in the database to verify the operation qualification. The operation qualification review needs to be re-verified; if the operation qualification review is passed, the operating habits can be traced through the identity of the operator, so as to automatically adjust the medical robot to the operator's preferred posture, and then enter the normal operation stage. In addition, the iris recognition device installed at the eyepiece can also be used to collect the biological characteristics to be compared before the operation, and compare it with the robot authorization database. The operating habits can be traced through the identity of the operator, so as to automatically adjust the medical robot to the operation. the operator's preferred posture, and then enters the normal operation phase, and the non-registered operator is alerted and recorded. It should be noted that before the operation, only one of the fingerprint recognition device or the iris recognition device can be used to verify the operation qualification, or two-layer verification can be performed through both, which is not specifically limited here.

In actual operation, the processor also collects the biological characteristics to be compared according to the fingerprint recognition device and the iris recognition device for irregular identity recognition. For example, iris recognition equipment and fingerprint recognition equipment perform multi-modal and irregular recognition on the operator. If the recognition is the same as the standard biometric registered before the operation, it will operate normally; if it is different, the display of the medical robot will prompt to replace the operator, and For the qualification review of the operator who needs to be replaced again, if he has the operating qualification, he will remind the operator who was not before the operation and record it; if he does not have the operating qualification, he will alarm the unqualified operator and record it. Regardless of whether the operator is the scheduled operator before the operation, the operation is carried out normally only by prompting or alarming and recording.

It should be noted that the processor also records the operator's operating habits through the fingerprint recognition device and iris recognition device during the operation process, and can optimize the operating experience according to the system's built-in algorithm, and can adjust the device through biometrics. .

During the operation, the medical robot transmits the characteristics of the operator's eyes through the iris sensor of the eyepiece for analysis, recognizes the blinking characteristics and the focus position of the pupil, and uses the algorithm to analyze the fatigue state of the operator. Prompting, such as displaying operator status information through an auxiliary display, or issuing voice prompt information through a buzzer, etc.

In addition, after the operation is completed, the operation process is recorded and uploaded to the database for retrospective access, analysis and optimization.

It should be understood that although the steps in the flow charts of FIGS. 3 , 4 , 5 , 6 , 7 , 8 and 9 are shown sequentially as indicated by the arrows, these steps are not necessarily indicated by the arrows. Execute sequentially. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least some of the steps in Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8 and Fig. 9 may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time. , but may be performed at different times, and the execution order of these steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with other steps or at least a part of steps or stages in other steps.

In some embodiments, as shown in FIG. 10 , an operator identification device for a medical robot is provided, which is applied before and/or during use of a medical robot, including: an acquisition module 100, a comparison module 200. The operation qualification acquisition module 300 and the authority determination module 400, wherein:

The collection module 100 is used for the collection device to collect the biological characteristics of the operator to be compared.

The comparison module 200 is configured to compare the biological characteristics to be compared with the standard biological characteristics.

The operation qualification acquisition module 300 is configured to acquire the operation qualification corresponding to the standard biological characteristics that are compared successfully.

The authority determination module 400 is used to determine whether the operator has the authority to operate the medical robot according to the operation qualification, and output the determination result.

In one of the embodiments, the collection module 100 is used to collect the biological characteristics to be compared in at least one of the following ways: the iris collection device installed in the eyepiece of the medical robot collects the operator's iris from time to time or according to the preset collection time interval. The iris feature collects the fingerprint features of the operator through the fingerprint collection device installed on the operating mechanism of the medical robot from time to time or according to the preset collection time interval; through the face recognition device installed on the medical robot from time to time or according to the preset collection time interval The facial features of the operator are collected; the blood feature of the operator is collected from time to time or according to the preset collection time interval through the blood feature collection equipment installed on the operating mechanism of the medical robot.

In one of the embodiments, the operator identification device for a medical robot further includes:

The pre-acquisition module is used to collect the standard biometrics of the operator through the biometrics collection device installed on the medical robot.

A generating module, configured to generate configuration information according to standard biometrics and operator identification.

The training data acquisition module is used to acquire training data corresponding to the operator.

The configuration module is used to judge whether the operator has the operation qualification according to the training data, and if so, add the operation qualification corresponding to the standard biometric feature in the configuration information.

In one of the embodiments, the comparison module 200 includes:

The comparing unit is used to compare the biological characteristics to be compared collected at least once with the standard biological characteristics.

The comparison success rate calculation unit is used to calculate the comparison success rate of the biological characteristics to be compared and the standard biological characteristics in the comparison of preset times.

The judging unit is configured to judge that the comparison between the biological feature to be compared and the standard biological feature is successful when the comparison success rate meets the requirements.

The first output module is used to output prompt information that the identity does not meet the requirements when the operator does not have the authority to operate the medical robot; and modify the collection rules of the biological characteristics to be compared.

The state acquisition module is used to calculate and obtain the current state of the operator according to the biological characteristics to be compared when the operator has the authority to operate the medical robot.

The second output module is configured to output status prompt information if the current status does not meet the operation requirements.

In one of the embodiments, the above-mentioned state acquisition module is used to calculate the current state according to at least one of the following methods: calculate the current state of the operator according to the eyelid movement characteristics and/or pupil focus position; obtain the operation state according to the blood characteristics in the blood vessels the current state of the user.

The historical operation information acquisition module is used to obtain the historical operation information corresponding to the successful comparison standard biometrics when the operator has the authority to operate the medical robot.

The adjustment module is used to adjust the attitude of the medical robot according to the historical operation information.

In one of the embodiments, the adjustment module includes:

The identification acquisition unit is configured to acquire the operator identification corresponding to the standard biometric feature that is successfully compared.

The output unit is used for outputting the prompt information of the operator identification and whether to adjust the posture of the medical robot.

The adjustment unit is configured to adjust the posture of the medical robot according to the instruction information and historical operation information when receiving the instruction information for adjusting the posture of the medical robot.

For specific limitations on the operator identification device for medical robots, please refer to the above-mentioned limitations on the operator identification method for medical robots, which will not be repeated here. Each module in the above-mentioned operator identification device for a medical robot can be fully or partially realized by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, and can also be stored in the memory of the computer device in the form of software, so that the processor can invoke and execute the corresponding operations of the above-mentioned modules.

In some embodiments, a computer device is provided. The computer device may be a terminal, and its internal structure may be as shown in FIG. 11 . The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. Wherein, the processor of the computer device is used to provide calculation and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and computer readable instructions. The internal memory provides an environment for the execution of the operating system and computer readable instructions in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be realized through WIFI, an operator network, NFC (Near Field Communication) or other technologies. When the computer-readable instructions are executed by the processor, an operator identification method for a medical robot is realized. The display screen of the computer device may be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device may be a touch layer covered on the display screen, or a button, a trackball or a touch pad provided on the casing of the computer device , and can also be an external keyboard, touchpad, or mouse.

Those skilled in the art can understand that the structure shown in Figure 11 is only a block diagram of a part of the structure related to the solution of this application, and does not constitute a limitation on the computer equipment on which the solution of this application is applied. The specific computer equipment can be More or fewer components than shown in the figures may be included, or some components may be combined, or have a different arrangement of components.

A computer device comprising a memory and one or more processors, wherein computer-readable instructions are stored in the memory, and when executed by the processor, the computer-readable instructions cause the one or more processors to perform the following steps: collecting an operator's The biometrics to be compared; compare the biometrics to be compared with the standard biometrics; and obtain the operating qualification corresponding to the standard biometric that is successfully compared. Judging whether the operator has the authority to operate the medical robot according to the operating qualification, and output the judgment result.

In some embodiments, when the processor executes the computer-readable instructions, the collection of the operator's biological characteristics to be compared through the biological characteristic collection device installed on the medical robot includes at least one of the following: through the eyepiece installed on the medical robot The iris collection device in the medical robot collects the iris characteristics of the operator from time to time or according to the preset collection time interval; the fingerprint collection device installed on the operating mechanism of the medical robot collects the operator's fingerprint characteristics from time to time or according to the preset collection time interval; The face recognition equipment installed on the medical robot collects the face features of the operator at irregular intervals or according to the preset collection time interval; and the blood feature collection equipment installed on the operating mechanism of the medical robot is irregular or according to the preset collection time interval The operator's blood profile is collected.

In some embodiments, before the comparison of the biometrics to be compared with the standard biometrics implemented when the processor executes the computer-readable instructions, it further includes: collecting the operator's standard by the biometrics collection device installed on the medical robot Biometric features; generate configuration information based on standard biometric features and operator identification; obtain training data corresponding to the operator; and judge whether the operator is qualified to operate based on the training data, and if so, add the corresponding standard biometric operating qualifications to the configuration information .

In some embodiments, comparing the biological feature to be compared with the standard biological feature when the processor executes the computer-readable instructions includes: comparing the biological feature to be compared collected at least once with the standard biological feature ; calculating the comparison success rate of the biological feature to be compared with the standard biological feature in the comparison of preset times; and when the comparison success rate meets the requirements, it is determined that the comparison between the biological feature to be compared and the standard biological feature is successful.

In some embodiments, after the processor executes the computer-readable instructions, after judging whether the operator has the authority to operate the medical robot according to the operation qualification, it includes: when the operator does not have the authority to operate the medical robot, the output identity does not meet the requirements prompt information; and modify the collection rules of the biological characteristics to be compared.

In some embodiments, after the processor executes the computer-readable instructions, after judging whether the operator has the authority to operate the medical robot according to the operation qualification, it includes: when the operator has the authority to operate the medical robot, according to the biological characteristics to be compared Calculate the current status of the operator; and output status prompt information if the current status does not meet the operation requirements.

In some embodiments, when the processor executes the computer-readable instructions, the current state of the operator is calculated according to the biological characteristics to be compared, including at least one of the following: calculating the operation according to the eyelid movement characteristics and/or the pupil focus position The current state of the operator; and the current state of the operator is calculated according to the characteristics of the blood in the blood vessel.

In some embodiments, the method implemented when the processor executes the computer-readable instructions is applied to the medical robot before use, and after the processor executes the computer-readable instructions to determine whether the operator has the authority to operate the medical robot based on the operation qualification , including: when the operator has the authority to operate the medical robot, obtain the historical operation information corresponding to the standard biometrics that are successfully compared; and adjust the posture of the medical robot according to the historical operation information.

In some embodiments, when the processor executes the computer-readable instructions, the adjustment of the posture of the medical robot according to the historical operation information includes: obtaining the operator identification corresponding to the standard biological feature that is successfully compared; outputting the operator identification and whether to adjust Prompt information of the posture of the medical robot; and when receiving the instruction information for adjusting the posture of the medical robot, adjust the posture of the medical robot according to the instruction information and historical operation information.

One or more computer-readable storage media storing computer-readable instructions, when the computer-readable instructions are executed by one or more processors, the one or more processors perform the following steps:: collect the operator's data to be compared Biometrics; compare the biometrics to be compared with the standard biometrics; and obtain the operating qualification corresponding to the successfully compared standard biometrics. According to the operating qualification, judge whether the operator has the authority to operate the medical robot, and output the judgment result.

Wherein, the computer-readable storage medium may be non-volatile or volatile.

In some embodiments, when the computer-readable instructions are executed by the processor, the acquisition of the operator's biological characteristics to be compared includes at least one of the following: the iris acquisition device installed in the eyepiece of the medical robot is not timed or according to The iris characteristics of the operator are collected at the preset collection time interval; the fingerprint characteristics of the operator are collected by the fingerprint collection device installed on the operating mechanism of the medical robot from time to time or according to the preset collection time interval; through the face recognition installed on the medical robot The equipment collects the facial features of the operator irregularly or according to the preset collection time interval; and collects the operator's blood characteristics irregularly or according to the preset collection time interval through the blood feature collection equipment installed on the operating mechanism of the medical robot.

In some embodiments, before the computer-readable instructions are executed by the processor, before comparing the biometrics to be compared with the standard biometrics, it also includes: collecting the operator's biometrics by a biometrics collection device installed on the medical robot Standard biometrics; generate configuration information based on standard biometrics and operator identification; obtain training data corresponding to the operator; and determine whether the operator is qualified to operate based on the training data, and if so, add operations corresponding to standard biometrics to the configuration information qualifications.

In some embodiments, when the computer readable instructions are executed by the processor, comparing the biological characteristics to be compared with the standard biological characteristics includes: comparing the biological characteristics to be compared collected at least once with the standard biological characteristics Yes; calculating the comparison success rate between the biological characteristics to be compared and the standard biological characteristics in the comparison of preset times; and when the comparison success rate meets the requirements, it is determined that the comparison between the biological characteristics to be compared and the standard biological characteristics is successful.

In some embodiments, after the computer-readable instructions are executed by the processor, after judging whether the operator has the authority to operate the medical robot according to the operation qualification, it includes: when the operator does not have the authority to operate the medical robot, the output identity does not satisfy The prompt information required; and modify the collection rules of the biological characteristics to be compared.

In some embodiments, after the computer-readable instructions are executed by the processor, after judging whether the operator has the authority to operate the medical robot according to the operation qualification, it includes: when the operator has the authority to operate the medical robot, according to the biological The current state of the operator is obtained through feature calculation; and if the current state does not meet the operation requirements, a state prompt message is output.

In some embodiments, when the computer readable instructions are executed by the processor, the current state of the operator is calculated according to the biological characteristics to be compared, including at least one of the following: calculated according to the eyelid movement characteristics and/or the pupil focus position The current state of the operator; and calculating the current state of the operator according to the characteristics of the blood in the blood vessel.

In some embodiments, the method implemented when the computer-readable instructions are executed by the processor is applied to the medical robot, and the method implemented when the computer-readable instructions are executed by the processor judges whether the operator has the qualification to operate the medical robot according to the operation qualification After the authority, it includes: when the operator has the authority to operate the medical robot, obtain the historical operation information corresponding to the successful comparison standard biometric; and adjust the posture of the medical robot according to the historical operation information.

In some embodiments, when the computer-readable instructions are executed by the processor, the adjustment of the posture of the medical robot according to the historical operation information includes: obtaining the operator identification corresponding to the standard biological feature that is successfully compared; outputting the operator identification and whether Prompt information for adjusting the posture of the medical robot; and when receiving instruction information for adjusting the posture of the medical robot, adjust the posture of the medical robot according to the instruction information and historical operation information.

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing related hardware through computer-readable instructions, and the computer-readable instructions can be stored in a computer-readable memory In the medium, when executed, the computer-readable instructions may include the processes of the embodiments of the above-mentioned methods. Wherein, any references to memory, storage, database or other media used in the various embodiments provided in the present application may include at least one of non-volatile memory and volatile memory. Non-volatile memory may include read-only memory (Read-Only Memory, ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM).

The technical features of the above embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be It is considered to be within the range described in this specification.

The above-mentioned embodiments only express several implementation modes of the present application, and the description thereof is relatively specific and detailed, but should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the scope of protection of the patent application should be based on the appended claims.

Claims

An operator identification method for a medical robot, wherein the method comprises:

Collect the biological characteristics of the operator to be compared;

Comparing the biological feature to be compared with the standard biological feature;

Obtain the operation qualification corresponding to the standard biometrics successfully compared; and

It is judged according to the operation qualification whether the operator has the authority to operate the medical robot, and a judgment result is output.
The method according to claim 1, wherein the collection of the operator's biological characteristics to be compared includes at least one of the following:

The iris characteristics of the operator are collected irregularly or according to the preset collection time interval through the iris collection device installed in the eyepiece of the medical robot;

The fingerprint characteristics of the operator are collected from time to time or according to the preset collection time interval through the fingerprint collection device installed on the operating mechanism of the medical robot;

Collect the face features of the operator through the face recognition equipment installed on the medical robot from time to time or according to the preset collection time interval; and

The blood characteristics of the operator are collected irregularly or at preset collection time intervals through the blood characteristic collection equipment installed on the operating mechanism of the medical robot.
The method according to claim 1, wherein, before comparing the biological characteristics to be compared with standard biological characteristics, further comprising:

Collect standard biometrics of the operator;

generating configuration information based on said standard biometric and operator identification;

Obtain training data corresponding to the operator; and

Whether the operator is qualified to operate is judged according to the training data, and if so, the operation qualification corresponding to the standard biometric feature is added to the configuration information.
The method according to claim 1, wherein said comparing said biological characteristics to be compared with standard biological characteristics comprises:

Comparing the biological characteristics to be compared collected at least once with the standard biological characteristics;

calculating the success rate of the comparison between the biological characteristics to be compared and the standard biological characteristics in the predetermined number of comparisons; and

When the comparison success rate meets the requirements, it is determined that the comparison between the biological feature to be compared and the standard biological feature is successful.
The method according to claim 1, wherein the method further comprises:

When the operator does not have the authority to operate the medical robot, output a prompt message that the identity does not meet the requirements; and modify the collection rule of the biometric feature to be compared.
The method according to claim 2, wherein the method further comprises:

When the operator has the authority to operate the medical robot, the current state of the operator is calculated according to the biological characteristics to be compared; and

If the current state does not meet the operation requirements, output a state prompt message.
The method according to claim 6, wherein said calculating and obtaining the current state of the operator according to the biological characteristics to be compared comprises at least one of the following:

The operator's current state is calculated according to the operator's eyelid movement characteristics and/or pupil focus position; and the operator's current state is calculated according to the blood characteristics in the blood vessels.
The method according to claim 1, wherein the method further comprises:

When the operator has the authority to operate the medical robot, obtain the historical operation information corresponding to the successful comparison standard biometric; and

The posture of the medical robot is adjusted according to the historical operation information.
The method according to claim 8, wherein said adjusting the posture of said medical robot according to said historical operation information comprises:

Obtain the operator identification corresponding to the standard biological feature that is successfully compared;

Outputting the prompt information of the operator identification and whether to adjust the posture of the medical robot; and

When receiving instruction information for adjusting the posture of the medical robot, the posture of the medical robot is adjusted according to the instruction information and the historical operation information.
An operator identification device for a medical robot, wherein the device is applied before and/or during use of the medical robot, and the device includes:

The collection module is used to collect the biological characteristics of the operator to be compared;

A comparison module, configured to compare the biological characteristics to be compared with standard biological characteristics;

The operation qualification acquisition module is used to obtain the operation qualification corresponding to the successful comparison standard biometric; and

The authority judging module is used for judging whether the operator has the authority to operate the medical robot according to the operation qualification.
The device according to claim 10, wherein the collection module is used to collect the biological characteristics to be compared in at least one of the following ways: through the iris collection device installed in the eyepiece of the medical robot at irregular times or according to the preset collection time collect the iris characteristics of the operator at intervals; collect the fingerprint characteristics of the operator through the fingerprint collection device installed on the operating mechanism of the medical robot from time to time or according to the preset collection time interval; through the face recognition device installed on the medical robot from time to time or The face features of the operator are collected according to the preset collection time interval; and the blood feature of the operator is collected irregularly or according to the preset collection time interval through the blood feature collection device installed on the operating mechanism of the medical robot.
The device according to claim 10, wherein the operator identification device for a medical robot further comprises:

The pre-acquisition module is used to collect the standard biological characteristics of the operator;

a generating module, configured to generate configuration information according to the standard biometric feature and operator identification;

A training data acquisition module, configured to acquire training data corresponding to the operator; and

The configuration module is configured to judge whether the operator is qualified to operate according to the training data, and if so, add the operation qualification corresponding to the standard biometric feature to the configuration information.
The device according to claim 10, wherein the comparison module comprises:

A comparison unit, configured to compare the biological characteristics to be compared collected at least once with standard biological characteristics;

A comparison success rate calculation unit, configured to calculate the comparison success rate between the biological characteristics to be compared and the standard biological characteristics in the comparison of preset times; and

A judging unit, configured to judge that the comparison between the biological feature to be compared and the standard biological feature is successful when the comparison success rate meets the requirement.
The device according to claim 10, wherein the operator identification device for a medical robot further comprises:

The first output module is configured to output prompt information that the identity does not meet the requirements when the operator does not have the authority to operate the medical robot; and modify the acquisition rules of the biological characteristics to be compared.
The device according to claim 11, wherein the operator identification device for a medical robot further comprises:

A state acquisition module, used to calculate and obtain the current state of the operator according to the biological characteristics to be compared when the operator has the authority to operate the medical robot; and

The second output module is configured to output status prompt information if the current status does not meet the operation requirement.
The device according to claim 15, wherein the state acquisition module is used to calculate the current state according to at least one of the following methods: calculate the operator's current state according to the operator's eyelid movement characteristics and/or pupil focus position state; and calculate the current state of the operator according to the characteristics of the blood in the blood vessel.
The device according to claim 10, wherein the operator identification device for a medical robot further comprises:

The historical operation information acquisition module is used to obtain the historical operation information corresponding to the successful comparison standard biometric when the operator has the authority to operate the medical robot; and

An adjustment module, configured to adjust the posture of the medical robot according to the historical operation information.
An operator identification system for a medical robot, wherein the system includes:

medical robots;

A biometric feature collection device, the biometric feature collection device is installed on the medical robot or the biometric feature collection device is in communication with the medical robot, and the biometric feature collection device is used to collect the biological characteristics of the operator to be compared characteristics; and

A processor, the processor is in communication with the medical robot and the biometric feature collection device, and the processor is used to judge the operation according to any one of the operator identification methods for medical robots described in claims 1 to 9 Whether the user has the authority to operate the medical robot.
The system according to claim 18, wherein the biometric collection device includes an iris collection device installed in the eyepiece of the medical robot, a fingerprint collection device installed on the operating mechanism of the medical robot, a human body installed on the medical robot One or more of face recognition equipment and blood feature collection equipment installed on the operating mechanism of the medical robot.
A computer device comprising a memory and a processor, the memory storing computer-readable instructions, wherein the processor implements the method according to any one of claims 1 to 9 when executing the computer-readable instructions step.