Control panel, seat and its control method, control panel system

Abstract

This specification provides an operating console, a seat, and their control methods and systems, relating to the field of medical device technology. The operating console control method includes: when a target object on the controlled seat meets a preset trigger state, sending a first adjustment signal to the controlled seat; the first adjustment signal is used to control the controlled seat to adjust to a first target posture; when it is determined that the controlled seat has been adjusted to the first target posture, granting the target object control access to the manipulator in the operating console associated with the controlled seat. The seat control method includes: the controlled seat receiving the first adjustment signal sent by the operating console; adjusting to the first target posture according to the first adjustment signal; and after adjusting to the first target posture, sending an adjustment completion signal to the operating console to control the operating console to grant the target object control access to the manipulator in the operating console. This solution allows the operator to maintain a comfortable posture during operation, preventing misoperation due to unsuitable posture or accidents.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to operating tables, seats and their control methods, and operating table systems. Background Technology

[0002] Existing operating equipment typically includes a control panel and an operator's seat. The operator's seat is usually movable (e.g., the bottom of the operator's seat is equipped with casters or rails). The control panel is usually equipped with operable controls. The operator needs to manually adjust the seat to a position close to the control panel and keep their body still during operation to prevent the body's center of gravity from shifting and causing the seat to move, which would cause the arms to lose their optimal operating position and result in poor operating performance.

[0003] For example, doctors control the operating components through the doctor's console to generate control signals and send the control signals to the surgical robot. During the operation, if the doctor moves his body, it is very likely to cause the center of gravity to shift and the seat to move, resulting in an improper arm bending angle and increasing surgical fatigue; or the arm may slip, leading to misoperation.

[0004] This shows that the existing operator seats offer a poor user experience and are prone to misoperation. Summary of the Invention

[0005] The purpose of this application is to provide an operating console, a seat, a control method thereof, and an operating console system to solve the problems of poor user experience and easy misoperation of the operator's seat.

[0006] To address the aforementioned technical problems, this specification provides a first aspect of a console control method, comprising: when a target object on a controlled seat meets a preset trigger state, sending a first adjustment signal to the controlled seat; the first adjustment signal being used to control the controlled seat to adjust to a first target pose; and when it is determined that the controlled seat has been adjusted to the first target pose, granting the target object control access to the manipulator in the console associated with the controlled seat, wherein the manipulator is used to control the actions of the operating robot.

[0007] In some embodiments, before sending a first adjustment signal to the controlled seat, the method further includes: determining whether a designated part of the target object is located at a predetermined position; and when the designated part of the target object is located at the predetermined position, determining that the target object meets a preset trigger state.

[0008] In some embodiments, determining whether a designated part of a target object is located at a predetermined position includes: transmitting a wave signal to a wave transceiver device disposed opposite to the target object via a wave generator, and transmitting and receiving wave signals to the wave generator via the wave transceiver device at predetermined intervals; when the frequency or amplitude of the echo received by the transceiver device is the same as the frequency or amplitude of the transmitted wave, and the distance to an obstacle calculated based on the echo and the transmitted wave reaches a first predetermined condition, determining that the head of the target object is located at a predetermined position, wherein the predetermined position is located between the wave generator and the wave transceiver device.

[0009] In some embodiments, determining whether a designated part of a target object is located at a predetermined position includes: acquiring a pressure value or temperature value sensed on a manipulator; when the pressure value or temperature value sensed on the manipulator reaches a second predetermined condition, determining that the hand of the target object is located at a predetermined position, wherein the predetermined position is the surface of the manipulator.

[0010] In some embodiments, determining whether a specified part of a target object is located at a predetermined position includes: acquiring an image of the target object captured by a camera; detecting whether the head image of the target object is within a predetermined area in the field of view of the camera; and determining that the head of the target object is located at a predetermined position when it is within the predetermined area.

[0011] In some embodiments, after sending a first adjustment signal to the controlled seat and before granting control access to the manipulator in the control console associated with the controlled seat to the target object, the method further includes: sending a pose lock signal to the controlled seat, the pose lock signal being used to lock the pose of the controlled seat; correspondingly, after granting control access to the manipulator in the control console associated with the controlled seat to the target object, the method further includes: monitoring the operation process of the operating robot; when the operation process changes from in operation to operation ended, sending a pose unlock signal to the controlled seat, the pose unlock signal being used to unlock the pose of the controlled seat.

[0012] In some embodiments, after granting the target object control access to the manipulator in the control console associated with the controlled seat, the method further includes: monitoring the operation process of the operating robot; and terminating the target object's control access to the manipulator when the operation process changes from in operation to operation ended.

[0013] In some embodiments, after granting control permissions to the manipulator in the control console associated with the controlled seat to the target object, the method further includes: monitoring the operation process of the operating robot; when the operation process changes from in operation to operation end, sending a second adjustment signal to the seat to control the seat to adjust to a second target pose, the second target pose including the initial pose of the seat before the target operation begins.

[0014] In some embodiments, monitoring the operation process of the operating robot includes: receiving an indication signal from the operating robot, the indication signal being determined based on the content indicated by an indication device provided on the operating robot, the indication signal being used to characterize the operation process of the operating robot; and determining the operation process of the operating robot based on the indication signal.

[0015] A second aspect of this specification provides a method for controlling a seat on a control console, comprising: the controlled seat receiving a first adjustment signal sent by the control console; adjusting to a first target pose according to the first adjustment signal; and, after adjusting to the first target pose, sending an adjustment completion signal to the control console to control the control console to grant control access to the manipulator in the control console to the target object, wherein the manipulator is used to control the actions of the operating robot.

[0016] In some embodiments, after the seat has been adjusted to the first target pose and before sending the adjustment completion signal to the control panel, the method further includes: detecting whether the seat pose is locked; and generating the adjustment completion signal when the seat pose is locked.

[0017] In some embodiments, after sending an adjustment completion signal to the control panel, the method further includes: receiving a second adjustment signal sent by the control panel; and adjusting to a second target pose according to the second adjustment signal.

[0018] In some embodiments, after receiving the second adjustment signal sent by the control panel and before adjusting to the second target posture, the method further includes: detecting the value of the friction force on the seat surface; and when the value of the friction force reaches a third predetermined condition, performing the control seat adjustment to the second target posture.

[0019] In some embodiments, the second target pose is the pose of the seat before adjustment according to the first adjustment signal; after adjusting to the second target pose, the method further includes: detecting the value of the friction force on the seat surface; when the value of the friction force reaches a fourth predetermined condition, continuing to adjust the pose of the seat in the direction of adjusting to the second target pose.

[0020] A third aspect of this specification provides a control console system, comprising: a control console including a detection device, a manipulator, a first communication device, and a first controller; wherein the detection device is used to detect whether a target object on a controlled seat meets a preset trigger state, the manipulator is used to control the actions of the operating robot, the first communication device is used to transmit signals between the seat and the operating robot, and the first controller is used to execute the method described in any of the first aspects; a seat including a seat body, a motor, a second communication device, and a second controller; wherein the motor is used to adjust the posture of the seat body, the second communication device is used to transmit signals between the control console and the second controller is used to execute the method described in any of the second aspects.

[0021] In some embodiments, the operating console further includes an observation chamber, which has a semi-enclosed structure, and a display device is provided in the observation chamber. The opening of the observation chamber is used to place the head of the target object.

[0022] In some embodiments, the operating console further includes: a wave generator, disposed at a first position in the observation room; and a wave transceiver, disposed at a second position in the observation room, with the second position opposite to the first position. When the head of the target object is not placed in the observation room, the wave transceiver can receive the wave signal emitted by the wave generator; when the head of the target object is placed in the observation room, the wave transceiver cannot receive the wave signal emitted by the wave generator.

[0023] In some embodiments, the wave generator is a laser, and the wave transceiver is an ultrasonic transceiver.

[0024] In some embodiments, the system further includes a friction sensor disposed on the seat plate of the seat body for detecting the value of the friction force on the seat plate surface.

[0025] In some embodiments, the seat body includes a base and a seat plate; the seat further includes: a guide rail disposed on the base; a slider slidably disposed on the guide rail; the seat plate disposed on the slider; and a lead screw connected to the slider, wherein the lead screw rotates under the drive of a motor, thereby moving the seat plate on the slider.

[0026] In some embodiments, the seat further includes a brake for locking the seat's position.

[0027] A fourth aspect of this specification provides an operating console, comprising: a detection device, a manipulator, a first communication device, and a first controller; wherein the detection device is used to detect that a target object on a controlled seat meets a preset trigger state, the manipulator is used to control the actions of the operating robot, the first communication device is used to transmit signals between the seat and the operating robot, and the first controller is used to execute the method described in any one of the first aspects.

[0028] A fifth aspect of this specification provides a computer storage medium storing computer program instructions that, when executed, implement the steps of the method described in any of the first aspects.

[0029] The sixth aspect of this specification provides a seat, comprising: a seat body, a motor, a second communication device, and a second controller; wherein the motor is used to adjust the position of the seat body, the second communication device is used to transmit signals with an operating console, and the second controller is used to execute the method described in any of the second aspects.

[0030] A seventh aspect of this specification provides a computer storage medium storing computer program instructions that, when executed, implement the steps of the method described in any of the second aspects.

[0031] The control system provided in this manual, when the target object on the controlled seat meets the preset trigger state (i.e., is ready to start operation), controls the controlled seat to adjust to the first target posture. After the controlled seat is adjusted to the first target posture, the controller permissions of the manipulator in the control console associated with the controlled seat are granted to the target object, so that the target object can control the robot's movements through the manipulator. Before the target object is ready to start operation, the controller permissions of the manipulator will not be granted, thereby preventing accidental misoperation by the target object or others, and thus improving the accuracy of robot control. The system detects whether the target object on the controlled seat is in a ready-to-operate state; if so, it automatically controls the controlled seat to adjust to the most comfortable first target posture for the operator. This ensures that the operator's body is in a comfortable posture during manipulator control, reducing operator fatigue and preventing misoperation due to improper posture, thereby improving the accuracy of robot control. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0033] Figure 1 This document shows a schematic block diagram of the control panel system provided in this manual.

[0034] Figure 2 A schematic diagram of the control panel and seat described in this specification is shown;

[0035] Figure 3 This manual shows a schematic diagram illustrating an application scenario of the surgical robot system provided.

[0036] Figure 4 A flowchart of a control panel and its seat control method provided in this specification is shown;

[0037] Figure 5 A schematic diagram of the physical structure of an operating table seat provided in this specification is shown;

[0038] Figure 6 A flowchart of another control panel and its seat control method provided in this specification is shown;

[0039] Figure 7 A flowchart of an operator console control method provided in this specification is shown;

[0040] Figure 8 A flowchart of another console control method provided in this specification is shown;

[0041] Figure 9 A flowchart of a seat control method for an operating console provided in this specification is shown;

[0042] Figure 10 A flowchart of another method for controlling the seat of an operating console provided in this specification is shown;

[0043] Figure 11 A schematic block diagram of the controller provided in this specification is shown. Detailed Implementation

[0044] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this application.

[0045] Operating consoles typically include a controller, allowing users to issue commands to control equipment and execute predetermined actions. In scenarios requiring high precision, an operator's seat is often included. This seat is usually movable (e.g., equipped with casters or rails). The operator must manually adjust the seat to a position close to the console and maintain body stillness during operation to prevent weight shifting and causing the seat to move, which could lead to the arms being out of optimal operating position and reduced performance. Therefore, existing operator seats offer a poor user experience and are prone to misoperation.

[0046] Based on this, this specification provides an operating console system, which includes an operating console 100 and a seat 200, such as... Figure 1 As shown, the control panel 100 includes a detection device 110, a manipulator 120, a first communication device 130, and a first controller 140. The seat 200 includes a seat body 210, a motor 220, a second communication device 230, and a second controller 240. The detection device 110 detects whether the target object on the controlled seat 200 meets a preset trigger state. The manipulator 120 controls the actions of the operating robot 300. The first communication device 130 transmits signals between the seat 200 and the operating robot 300. The first controller 140 executes... Figure 4 The method for the control panel section includes: a motor 220 in the seat for adjusting the position of the seat body 210; a second communication device 230 for transmitting signals with the control panel 100; and a second controller 240 for executing... Figure 4 Method for the middle seat section.

[0047] The aforementioned console system can refer to console systems in various scenarios. For example, a console system can be used for the console and chair of a jade carver, where the console is equipped with a machine for jade carving, and the operating robot is that machine. Another example is a console and chair used for precision circuit board soldering, where the console is equipped with a machine for soldering, and the operating robot is that machine. Yet another example is for machines requiring precise movement control, such as excavators and forklifts, where the console is equipped with joysticks and brake pads, and the operating robot is the excavator's bucket or the forklift's forks. A console system can also be an office system consisting of a computer desk and chair, where the controller is a keyboard, mouse, or motion-sensing input device, and the operating robot is the computer processor and display device.

[0048] In the medical field, the console in a console system can be as follows: Figure 2 The doctor's console A1 shown can have its chair replaced as follows: Figure 2 The chair A2 where the middle-aged person sits. (Combined) Figure 2 and Figure 3 As shown, the doctor's control console A1, the surgical robot B, and the image processing device C constitute a surgical robot system for medical use. Among them, Figure 2 and Figure 3 The seats in the various models differ only in appearance, but they are all designed for the operator to sit on. Figure 2 and Figure 3 Seat A2 in the text can be considered equivalent.

[0049] It should be noted that the term "surgery" in this instruction manual includes not only medical procedures such as cutting and suturing of the patient's body using medical instruments, but also procedures such as cutting, clamping, or puncturing to remove diseased tissue from the patient's body for pathological examination (i.e., biopsy). In other words, the term "surgery" in this instruction manual refers to the means of treating the patient's body as needed for diagnosis and treatment.

[0050] A surgical robot system is a system that performs complex surgical procedures using minimally invasive techniques. A surgical robot system typically consists of a control unit, an execution unit, and an imaging unit. The control unit 100 is... Figure 2 and Figure 3 The A1 unit, commonly known as the surgeon's console, is located outside the sterile area of ​​the operating room. It is equipped with a 3D high-definition endoscope image display, hand controllers, and foot pedals. The surgeon sits at the console, observing the operation of the surgical robot through the 3D high-definition endoscope image display and controlling the robot by operating the hand controllers and stepping on the foot pedals. The execution end device, i.e. Figure 3The surgical robot device (hereinafter referred to as the surgical robot) B, located in the sterile area of ​​the operating room, primarily functions to hold surgical instruments and perform specific surgical procedures on the patient according to the control commands given by the surgeon, as well as to carry a high-resolution three-dimensional (i.e., 3D) lens with an endoscope. In the sterile area, assistant surgeons are usually also stationed to change the instruments and endoscopes on the surgical robot and assist the surgeon in completing the operation. To ensure patient safety, assistant surgeons typically have higher priority in controlling the surgical robot. The imaging device C contains the core processor and image processor of the surgical robot system. It is used to collaboratively process control signals from the surgeon's console, mapping them to control signals for specific parts of the robotic arm on the surgical robot, and to process information acquired by the endoscope lens to form a three-dimensional high-definition image, which is then fed back to the surgeon's console.

[0051] This specification provides a control method for an operator console system, which includes an operator console control method and an operator console seat control method. The operator console control method can be used for... Figure 1 The first controller 140 of the central control panel 100, the seat control method of the control panel can be used for Figure 1 The second controller 240 of the middle seat 200. (Example) Figure 4 As shown, the method includes the following steps:

[0052] S101: The control panel determines whether the specified part of the target object is located in the predetermined position.

[0053] The target object in this specification refers to Figure 1 The person sitting in seat 200 operates the manipulator 120 to send control commands to the robot. Typically, this person is a human.

[0054] In some embodiments, the control panel has a semi-enclosed observation chamber, in which a display device is installed, and the opening of the observation chamber is used to place the head of the target object. Specifically, as shown in the figure... Figure 2 As shown, the structure within the dashed circle indicated by A11 is the semi-enclosed observation chamber, and the two solid circles within the dashed circle represent the two lens tubes of the observation mirror of the display device. Combined with... Figure 3 To understand Figure 2 In the semi-enclosed observation chamber, the image terminal device C processes the information collected by the endoscope lens to form a three-dimensional high-definition image, which is then fed back to the operating table A1. The operator then places their eyes close to the two tubes of the observation mirror and can see the feedback high-definition image through the tubes. At this time, the operator's head is placed inside the semi-enclosed observation chamber, with their ears close to the inner wall of the chamber.

[0055] A wave generator can be installed at the first position of the observation room; a wave transceiver can be installed at the second position of the observation room, and the second position is opposite to the first position. When the operator's head is not in the observation room, the wave transceiver can receive the wave signal emitted by the wave generator; when the operator's head is in the observation room, the wave transceiver cannot receive the wave signal emitted by the wave generator.

[0056] In this case, the designated part of the target object can be a person's head, and the predetermined location can be a semi-enclosed observation chamber. Accordingly, S101 may include the following steps:

[0057] S1011: The wave generator transmits a wave signal to the wave transceiver unit located opposite to it, and the wave transceiver unit transmits and receives wave signals to the wave generator unit at predetermined intervals.

[0058] S1012: When the frequency of the echo received by the transceiver unit is the same as the frequency or amplitude of the transmitted wave, and the distance to the obstacle calculated based on the echo and the transmitted wave reaches the first predetermined condition, the head of the target object is determined to be located at a predetermined position, wherein the predetermined position is located between the wave generating device and the wave transceiver unit.

[0059] In some embodiments, the wave generator and the integrated wave transceiver can both emit wave signals of the same type, such as ultrasonic signals of the same frequency. The frequencies of the emitted wave signals can be the same or different.

[0060] In some embodiments, the wave emitted by the wave generator can be a first type of wave signal, and the wave emitted by the wave transceiver can be a second type of wave signal, i.e., wave signals of different types. For example, the wave generator can be a laser, and the wave transceiver can be an ultrasonic transceiver. The frequencies of the wave signals emitted by the two can be the same or different.

[0061] In this scenario, if there are no obstacles between the wave generator and the transceiver, since they are positioned relative to each other, the wave emitted by the transceiver will be reflected back when it encounters an object at the location of the wave generator. The wave emitted by the generator will then propagate along the path of the reflected wave, resulting in superposition of the emitted and reflected waves. The resulting superimposed wave will differ from the wave emitted by the transceiver in either frequency or amplitude. Specifically, based on the superposition characteristics of waves, even if the superimposed wave and the wave emitted by the transceiver have the same frequency, their amplitudes will definitely be different.

[0062] If there are obstacles between the wave generator and the transceiver, such as a person's head, hand, or shoulder placed between them, the wave emitted by the transceiver will be reflected back when it encounters the obstacle. The wave emitted by the wave generator will be blocked and will not be superimposed with the reflected wave. When the transceiver emits a waveform signal at predetermined intervals (i.e., it does not continuously emit wave signals so that the emitted waves will not be superimposed), the frequency of the reflected wave received by the transceiver is the same as that of its emitted wave.

[0063] Based on the above analysis, it can be determined whether the wave received by the transceiver device is the same as the wave it transmits. If the frequencies are different, it can be determined that there are no obstacles between the wave generator and the transceiver device. If they are the same, it can be further determined whether the wave received by the transceiver device is the same as the wave it transmits. If they are different, it can be determined that there are no obstacles between the wave generator and the transceiver device; otherwise, there are obstacles.

[0064] In some cases, there may be obstacles between the wave generator and the integrated wave transceiver, but these obstacles are not the designated location of the target object. For example, they could be a robotic arm of another instrument, a book, etc. When these objects are located between the wave generator and the integrated wave transceiver, their specific positions are usually relatively centered. For instance, the total distance between the two inner walls of the semi-enclosed observation chamber is 40cm, and the distance between the obstacle and the inner wall of the semi-enclosed observation chamber is 15cm and 20cm, respectively. When the target object's head is located between the wave generator and the integrated wave transceiver, the distance between the ears and the inner wall of the semi-enclosed observation chamber is usually within a predetermined range, such as 5-9cm. Therefore, when it is known that there are obstacles between the wave generator and the integrated wave transceiver, the distance between the obstacle and the inner wall of the observation chamber where the integrated wave transceiver is located can be calculated based on the waves emitted by the integrated wave transceiver and the received echoes (i.e., reflected waves or superimposed waves). It can then be determined whether this distance meets a first predetermined condition. If it does, the obstacle can be identified as the head of the target object. The first predetermined condition can be that the distance value is within a first predetermined distance range. Of course, this method of determining whether an obstacle is the head of the target object is not absolutely accurate, but it can eliminate obstacles that are not the head of the target object to a certain extent.

[0065] With the development of medical device technology Figure 1 The semi-enclosed observation room shown (i.e., an observation room with a semi-enclosed structure) may also be replaced with a head-mounted device, such as VR glasses. In this case, the method described above for determining the head of the target object by setting up a wave generator and a wave transceiver integrated device can still be applied.

[0066] In some embodiments, a pressure sensor or a temperature sensor may be provided on the manipulator of the control panel. The pressure sensor or temperature sensor may be multiple small sensors densely distributed on the surface of the manipulator; alternatively, it may be one or two sensors located at specific positions on the manipulator surface, such as the position corresponding to the palm of the operator's hand when gripping the manipulator. Specifically, the pressure sensor may also be configured as a spring-loaded clamp structure, generating a signal that satisfies a preset trigger state when the ends of the two clamp legs are pinched together and brought close to each other.

[0067] In this case, the designated part of the target object can be a person's hand, and the predetermined position can be the surface of the manipulator. Accordingly, S101 may include the following steps:

[0068] S1013: Acquire the pressure or temperature value sensed on the controller.

[0069] S1014: When the pressure or temperature value sensed on the manipulator reaches the second predetermined condition, determine that the hand of the target object is in a predetermined position.

[0070] The second predetermined condition can refer to the pressure value reaching a predetermined pressure range. For example, the predetermined pressure range can be set to a value slightly larger than the operating pressure value when the controller issues a control command, so that the operator can give a signal that the preset trigger state is met by squeezing the handle with their hand.

[0071] In some embodiments, a camera may also be installed on the operating table to capture images of the operator. In this case, the designated part of the target patient can be the head, i.e., the shoulder, and the predetermined location can be a predetermined area within the field of view. Accordingly, S101 may include the following steps:

[0072] S1015: Acquire an image of the target object captured by the camera.

[0073] S1016: Detect whether the head image of the target object is within a predetermined area in the camera's field of view.

[0074] S1017: When within the predetermined area, determine that the head of the target object is located at the predetermined position.

[0075] The camera can be positioned in the center of the display device, such as in the upper or lower center of the screen. Since the camera's position is fixed, its field of view is also fixed after it is set up. The operator sitting in a chair and looking at the content displayed on the device usually indicates that they are ready to begin operation. For more precise operation, the operator's seating position is fixed, and this fixed position can be defined within the field of view; this defined area is the predetermined area. Therefore, when the camera captures an image of the operator within the predetermined area, it can be determined that the operator is seated and ready to begin operation.

[0076] Steps S1011 to S1017 above provide three specific implementation methods for determining whether a target object meets a preset trigger state by "whether a specified part of the target object is located in a predetermined position". It should be noted that, in addition to the method of "whether a specified part of the target object is located in a predetermined position", other methods can also be used to determine whether a target object meets a preset trigger state. For example, it is possible to detect whether a person emits a preset voice message (e.g., "Da Vinci starts working"), or to detect a person's iris, etc.

[0077] In some embodiments, if the target object on the controlled seat meets the preset trigger state as determined by the above method, a security check can also be performed to determine whether the physiological characteristics of the target object on the controlled seat are the same as the physiological characteristics of the preset operator. Under different circumstances, control permissions will not be granted to the target object. Physiological characteristics can be features such as fingerprints, palm prints, irises, and voiceprints. Among them, fingerprints and palm prints can be detected by sensors on the manipulator, and irises can be detected by a camera installed next to the display device.

[0078] For example, if the surgeon needs to control the surgical robot through the control panel to perform surgery on the patient, a safety verification method can be used to confirm whether the surgeon actually performing the surgery is the pre-assigned surgeon, preventing others from performing surgery on the patient and increasing the surgical risk.

[0079] The methods described above for determining whether the target object on the controlled seat meets the preset trigger conditions and for performing safety verification only require the operator to perform the actions required for the operation, without requiring the operator to perform any other actions unrelated to the operation. This reduces the operator's preparation work and allows them to focus on the operation itself.

[0080] S102: When the specified part of the target object is in the predetermined position, the control panel determines that the target object meets the preset trigger state.

[0081] The preset trigger state refers to the state in which the target object is ready to be operated. In this manual, "operation" refers to the operation of the manipulator generating control commands to control the robot's movements.

[0082] S103: When the target object on the controlled seat meets the preset trigger state, the control panel sends a first adjustment signal to the controlled seat. The first adjustment signal is used to control the controlled seat to adjust to the first target position.

[0083] The primary target posture refers to the posture that makes the operator most comfortable during operation. Posture refers to both position and attitude. Position can be the distance between the controlled seat and the control panel, while attitude can be the angle at which the back of the controlled seat is tilted forward or backward, or the rotation angle of the controlled seat.

[0084] Under normal circumstances, when the operator is in the operating state, the distance between the seat and the control panel is required to be relatively close (i.e., the first target pose). However, when not in the operating state, in order to facilitate the operator getting off or sitting in the seat without touching the control panel, the distance between the seat and the control panel is required to be relatively far (i.e., the second target pose). Therefore, the first adjustment signal typically includes moving the seat toward the control panel until the distance between the seat and the control panel is within a second predetermined distance range. That is, the first adjustment signal typically includes moving the seat forward to the target position.

[0085] To move the seat forward to the target position, the seat can be configured as a movable seat. For example, as... Figure 5 As shown, the seat may include a seat body 210, a motor 220, a guide rail 250, a slider 260, and a lead screw 270. The seat body 210 includes a base 211 and a seat plate 212; the guide rail 250 is mounted on the base 211; the slider 260 is slidably mounted on the guide rail 250; the seat plate 212 is mounted on the slider 260; the lead screw 270 is connected to the slider 260, and when the lead screw 270 rotates under the drive of the motor 220, it moves the seat plate 212 on the slider 260. The motor-driven lead screw rotation to move an object is a common structural design in the prior art, and will not be described in detail here.

[0086] S201: The controlled seat receives the first adjustment signal sent by the control panel.

[0087] In some embodiments, signals can be transmitted wirelessly between the controlled seat and the control panel. For example, wireless transmission technologies such as Bluetooth, Wi-Fi, and infrared can be used. Using wireless transmission technology between the controlled seat and the control panel reduces the number of transmission cables between them, preventing the operator from tripping and also preventing the seat from becoming entangled and unable to be properly controlled.

[0088] In some embodiments, the controlled seat can be fixedly installed on the ground, and signals are transmitted between the controlled seat and the control panel via wired transmission technology, with the transmission line between them buried underground. Wired transmission is faster and more reliable.

[0089] S202: The controlled seat adjusts to the first target position according to the first adjustment signal.

[0090] S203: Controlled seat detection: Is the seat position locked?

[0091] In scenarios where high control precision is required for operating robots, to prevent poor user experience and potential misoperation caused by the seat, the seat's position can be locked after it has been adjusted.

[0092] For example, Figure 5 The seat shown is also equipped with a brake 280 for locking the seat's position. When locked, the seat's position cannot be changed; it can only be changed when unlocked.

[0093] S204: When locked, the controlled seat generates an adjustment completion signal.

[0094] exist Figure 4 In the illustrated embodiment, the adjustment completion signal indicates that the controlled seat has been adjusted to the first target pose and the pose has been locked. Figure 4 In an alternative implementation, the adjustment completion signal may simply indicate that the controlled seat has been adjusted to the first target pose. After receiving the adjustment completion signal, the control panel executes S104: the control panel sends a pose lock signal to the controlled seat, which is used to lock the pose of the controlled seat. Then, the controlled seat executes steps S203 and S204 again; after confirming that the pose is locked, it generates another adjustment completion signal and sends it to the control panel. For details of this alternative implementation, please refer to [link to relevant documentation]. Figure 6 .

[0095] S205: The controlled seat sends an adjustment completion signal to the control panel.

[0096] S105: Grant control permissions to the manipulator in the control console associated with the controlled seat for the target object. The manipulator is used to control the actions of the robot.

[0097] Setting control permissions for the manipulator means that the manipulator cannot always generate control signals to control the machine's actions, thereby further reducing the risk of misoperation of the robot.

[0098] For example, in Figure 3In the surgical scenario depicted, to ensure patient safety, the controller operated by the doctor is only granted access to the controller by the doctor's console when the doctor is ready to perform surgery. Without access, the surgical robot will not move regardless of the doctor's actions (this could be due to the controller not generating a control command, generating a control command but not sending it to the surgical robot, or sending the command but carrying an identifier indicating insufficient access, which the surgical robot will not execute). To further ensure patient safety, assistant doctors sharing the sterile area with the patient typically have higher priority over the surgical robot's control. For example, if the doctor's console issues command A, and the assistant doctor deems it necessary to pause the surgery based on the patient's condition, the surgical robot will cease executing any commands.

[0099] S106: The control panel monitors the operation process of the robot.

[0100] The term "operation progress" refers to whether an operation is in progress or has already been completed. Figure 3 In the scenario shown, the operation refers to performing surgery on the patient.

[0101] In some embodiments, an indicator device for the operation process can be set on the operating robot. This indicator device can be a voice indicator device, such as a speaker, or a light indicator device. The operation process can be indicated by the color or color combination of the light, the flashing frequency, etc. For example, red indicates that the operation is in progress, and green indicates that the operation has ended.

[0102] Accordingly, step S106 may include the following steps:

[0103] S1061: Receive an instruction signal from the operating robot. The instruction signal is determined based on the content indicated by the instruction device set on the operating robot. The instruction signal is used to characterize the operation process of the operating robot.

[0104] S1062: Determine the operation process of the robot based on the instruction signal.

[0105] By determining the operation based on the instructions provided by the indicator devices on the robot, the operation process can be more accurately grasped, thereby improving the accuracy of various controls.

[0106] S107: When the operation process changes from in operation to operation end, the console terminates the target object's control over the manipulator.

[0107] When the operation process changes from in progress to completion, terminating the target object's (i.e., the operator's) control over the controller can prevent the operator from accidentally touching the manipulator and causing misoperation.

[0108] S108: The control panel sends a position unlock signal to the controlled seat. The position unlock signal is used to unlock the position of the controlled seat.

[0109] After the operation is completed, the seat can be unlocked. In the unlocked state, the position of the controlled seat can be adjusted. Specifically, the position of the controlled seat can be adjusted according to the operator's wishes, or the control panel or the seat itself can generate adjustment commands and adjust accordingly.

[0110] S109: The control panel sends a second adjustment signal to the seat to control the seat to adjust to a second target pose, the second target pose including the initial pose of the seat before the target operation begins.

[0111] That is, when the operation process changes from in operation to operation end, the seat is adjusted to the initial position so that the operator can leave the seat without touching the control panel.

[0112] In some embodiments, the initial pose can be the seat position after the last operation ended or before the current operation began. In this case, the initial pose before each operation may be different. In some embodiments, the initial pose can also be a pre-set position. In this case, the initial pose before each operation is the same.

[0113] S206: The controlled seat receives the second adjustment signal sent by the control panel.

[0114] In some embodiments, after receiving the second adjustment signal, the controlled seat can adjust its pose to the initial pose. In some embodiments, the following situation may occur: the operation process indicated by the operating robot is inaccurate, leading to an inaccurate second adjustment signal from the control panel. For example, the operating robot is in operation, and the control panel issues the second adjustment signal. In this case, if the controlled seat is adjusted to the initial state according to the second adjustment signal, it will cause the operator's body to move, resulting in a misoperation. To prevent this situation, after receiving the second adjustment signal, it can be further detected whether the operator intends to adjust the seat to the initial pose. Specifically, this can be achieved through steps S207 and S208.

[0115] S207: The value of the friction force on the surface of the seat of the controlled seat.

[0116] Accordingly, in Figure 5A friction sensor can be installed on the seat 12 of the seat shown to detect the value of the friction force on the seat surface.

[0117] S208: When the value of the friction force reaches the third predetermined condition, the controlled seat is adjusted to the second target position.

[0118] When an operator intends to move the seat backward, they typically push the seat backward with their body, generating friction on the seat surface. When the friction value reaches a third predetermined condition, it can be determined that the operator intends to move the seat backward. The third predetermined condition can be greater than or equal to a first predetermined force threshold.

[0119] Steps S206 to S208 comprehensively consider the operational process indicated by the robot and the operator's wishes to determine whether to adjust the controlled seat backward, which can further prevent misoperation. It should be noted that since the operator may also adjust their own sitting posture during the operation of the robot, generating friction on the seat, it is also very easy to cause misoperation if the seat is moved backward based solely on whether the friction value reaches the third predetermined condition.

[0120] S209: The value of the friction force on the surface of the seat of the controlled seat.

[0121] S210: When the value of the friction force reaches the fourth predetermined condition, the controlled seat continues to adjust the seat posture in the direction of adjusting to the second target posture.

[0122] Since operators vary in size, for larger operators, moving the seat back to the initial position may still be inconvenient for them to leave the seat without bumping into the control panel. Therefore, the seat can be moved further back according to the operator's wishes. That is, the operator's wishes are determined by detecting the friction force on the seat surface. When the friction force reaches a fourth predetermined condition, the controlled seat continues to adjust backward by a preset amount.

[0123] The fourth predetermined condition can be that the value of the frictional force is greater than or equal to the second predetermined force threshold. The first predetermined force threshold and the second predetermined force threshold can be equal or unequal.

[0124] The control system provided in this manual, when the target object on the controlled seat meets the preset trigger state (i.e., is ready to start operation), controls the controlled seat to adjust to the first target posture. After the controlled seat is adjusted to the first target posture, the controller permissions of the manipulator in the control console associated with the controlled seat are granted to the target object, so that the target object can control the robot's movements through the manipulator. Before the target object is ready to start operation, the controller permissions of the manipulator will not be granted, thereby preventing accidental misoperation by the target object or others, and thus improving the accuracy of robot control. The system detects whether the target object on the controlled seat is in a ready-to-operate state; if so, it automatically controls the controlled seat to adjust to the most comfortable first target posture for the operator. This ensures that the operator's body is in a comfortable posture during manipulator control, reducing operator fatigue and preventing misoperation due to improper posture, thereby improving the accuracy of robot control.

[0125] Below from Figure 4 The angle of the control panel shown illustrates the method provided in this manual.

[0126] like Figure 7 As shown, this specification provides an operator console control method, including the following steps:

[0127] S710: When the target object on the controlled seat meets the preset trigger state, a first adjustment signal is sent to the controlled seat; the first adjustment signal is used to control the controlled seat to adjust to the first target position.

[0128] S720: When it is determined that the controlled seat has been adjusted to the first target pose, the control permissions of the manipulator in the control console associated with the controlled seat are granted to the target object. The manipulator is used to control the actions of the robot.

[0129] In some embodiments, such as Figure 8 As shown, before sending the first adjustment signal to the controlled seat, the method further includes:

[0130] S730: Determine whether a specified part of the target object is located at a predetermined position.

[0131] S740: When a specified part of the target object is located at a predetermined position, it is determined that the target object meets the preset trigger state.

[0132] In some embodiments, S730 includes:

[0133] S731: The wave generator transmits a wave signal to the wave transceiver unit located opposite to it, and the wave transceiver unit transmits and receives wave signals to the wave generator unit at predetermined intervals.

[0134] S731: When the frequency of the echo received by the transceiver unit is the same as the frequency or amplitude of the transmitted wave, and the distance to the obstacle calculated based on the echo and the transmitted wave reaches a first predetermined condition, the head of the target object is determined to be located at a predetermined position, wherein the predetermined position is located between the wave generating device and the wave transceiver unit.

[0135] In some embodiments, S730 includes:

[0136] S733: Acquire pressure or temperature values ​​sensed on the controller.

[0137] S734: When the pressure or temperature value sensed on the manipulator reaches the second predetermined condition, it is determined that the hand of the target object is located in a predetermined position, wherein the predetermined position is the surface of the manipulator.

[0138] In some embodiments, S730 includes:

[0139] S735: Acquires an image of the target object captured by the camera.

[0140] S736: Detect whether the head image of the target object is within a predetermined area of ​​the camera's field of view.

[0141] S737: When within a predetermined area, determine that the head of the target object is located at a predetermined position.

[0142] In some embodiments, such as Figure 8 As shown, between S710 and S720, there is also: S750: sending a pose lock signal to the controlled seat, the pose lock signal being used to lock the pose of the controlled seat.

[0143] Accordingly, following the S720 are:

[0144] S760: Monitors the operation process of the robot.

[0145] S770: When the operation process changes from in operation to operation end, a position unlock signal is sent to the controlled seat. The position unlock signal is used to unlock the position of the controlled seat.

[0146] In some embodiments, such as Figure 8 As shown, following the S720, it also includes:

[0147] S760: Monitors the operation process of the robot.

[0148] S780: When the operation process changes from in operation to operation completion, terminate the target object's control over the manipulator.

[0149] In some embodiments, such as Figure 8 As shown, following the S720, it also includes:

[0150] S760: Monitors the operation process of the robot.

[0151] S790: When the operation process changes from in operation to operation end, a second adjustment signal is sent to the seat to control the seat to adjust to a second target pose, the second target pose including the initial pose of the seat before the target operation started.

[0152] In some embodiments, S760 includes:

[0153] S761: Receives an instruction signal from the operating robot. The instruction signal is determined based on the content indicated by the instruction device set on the operating robot and is used to characterize the operation process of the operating robot.

[0154] S762: Determine the operation process of the robot based on the instruction signal.

[0155] Below from Figure 4 The angle of the seat shown illustrates the method provided in this manual.

[0156] Please refer to the detailed description and beneficial effects of the above-mentioned control panel. Figure 4 The method embodiments shown will not be described in detail again.

[0157] like Figure 9 As shown, this specification provides a method for controlling the seat of an operating console, including the following steps:

[0158] S910: Receives the first adjustment signal sent by the operator console.

[0159] S920: Adjust to the first target pose according to the first adjustment signal.

[0160] S930: After adjusting to the first target pose, it sends an adjustment completion signal to the control console to grant the control console control permissions of the manipulator in the control console to the target object. The manipulator is used to control the actions of the robot.

[0161] In some embodiments, such as Figure 10 As shown, after adjusting to the first target pose and before sending the adjustment completion signal to the control panel, the process also includes:

[0162] S940: Detects whether the seat position is locked.

[0163] S950: When locked, it generates an adjustment complete signal.

[0164] In some embodiments, such as Figure 10 As shown, after sending the adjustment completion signal to the control panel, the following steps are also included:

[0165] S960: Receives the second adjustment signal sent by the control panel.

[0166] S970: Adjust to the second target pose according to the second adjustment signal.

[0167] In some embodiments, such as Figure 10 As shown, between S960 and S970, there is also:

[0168] S980: Detects the friction force on the seat surface. When the friction force reaches a third predetermined condition, it controls the seat to adjust to the second target position.

[0169] In some embodiments, such as Figure 10 As shown, the second target pose is the seat pose before adjustment based on the first adjustment signal; after adjusting to the second target pose, the following steps are also included:

[0170] S990: The value of the friction force on the surface of the seat.

[0171] S9100: When the value of the friction force reaches the fourth predetermined condition, continue to adjust the seat position in the direction of adjusting to the second target position.

[0172] Please refer to the detailed description and beneficial effects of the above-mentioned seats. Figure 4 The method embodiments shown will not be described in detail again.

[0173] This manual also provides an operator console system, such as Figure 1 As shown, the system includes an operating console 100 and a seat 200. The operating console 100 includes a detection device 110, a manipulator 120, a first communication device 130, and a first controller 140. The seat 200 includes a seat body 210, a motor 220, a second communication device 230, and a second controller 240. The detection device 110 detects whether a target object on the controlled seat 200 meets a preset trigger state. The manipulator 120 controls the movements of the operating robot 300. The first communication device 130 transmits signals between the seat 200 and the operating robot 300. The first controller 140 executes... Figure 4 The method for the control panel section includes: a motor 220 in the seat for adjusting the position of the seat body 210; a second communication device 230 for transmitting signals with the control panel 100; and a second controller 240 for executing... Figure 4 Method for the middle seat section.

[0174] In some embodiments, the control panel 100 further includes an observation chamber, which has a semi-enclosed structure, and a display device is provided in the observation chamber. The opening of the observation chamber is used to place the head of the target object.

[0175] In some embodiments, the operating console 100 further includes: a wave generator, disposed at a first position in the observation room; and a wave transceiver, disposed at a second position in the observation room, with the second position opposite to the first position. When the head of the target object is not placed in the observation room, the wave transceiver can receive the wave signal emitted by the wave generator. When the head of the target object is placed in the observation room, the wave transceiver cannot receive the wave signal emitted by the wave generator.

[0176] In some embodiments, the wave generator is a laser, and the wave transceiver is an ultrasonic transceiver.

[0177] In some embodiments, the system further includes a friction sensor disposed on the seat plate of the seat body for detecting the value of the friction force on the seat plate surface.

[0178] In some embodiments, the seat body 210 includes a base 211 and a seat 212. The seat 200 also includes a guide rail 250, a slider 260, and a lead screw 270. The guide rail 250 is disposed on the base 211. The slider 260 is slidably disposed on the guide rail 250; the seat 212 is disposed on the slider 260. The lead screw 270 is connected to the slider 260, and when the lead screw 270 rotates under the drive of the motor 220, it drives the seat 212 on the slider 260 to move.

[0179] In some embodiments, seat 200 further includes 270 for locking the seat's position.

[0180] Please refer to the detailed description and beneficial effects of the above-mentioned control panel and chair. Figure 4 The method embodiments shown will not be described in detail again.

[0181] This specification provides a computer storage medium that stores computer program instructions, which, when executed, implement... Figure 4 or Figure 6 The steps or implementation of the method corresponding to the console. Figure 7 , Figure 8 The steps of the method shown are as follows.

[0182] This specification provides a computer storage medium that stores computer program instructions, which, when executed, implement... Figure 4 or Figure 6 The steps or implementation of the method corresponding to the middle seat. Figure 9 or Figure 10 The steps of the method shown are as follows.

[0183] This invention also provides a controller, such as... Figure 11As shown, the controller may include a processor 1101 and a memory 1102, wherein the processor 1101 and the memory 1102 can be connected via a bus or other means. Figure 11 Taking the example of a connection between China and Israel via a bus.

[0184] Processor 1101 may be a central processing unit (CPU). Processor 1101 may also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or combinations thereof.

[0185] The memory 1102, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as the program instructions / modules corresponding to the console control method or the console seat control method in the embodiments of the present invention. The processor 1101 executes various functional applications and data classification of the processor by running the non-transitory software programs, instructions, and modules stored in the memory 1102, thereby implementing the console control method or the console seat control method in the above method embodiments.

[0186] The memory 1102 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created by the processor 1101, etc. Furthermore, the memory 1102 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory 1102 may optionally include memory remotely located relative to the processor 1101, and these remote memories may be connected to the processor 1101 via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0187] The one or more modules are stored in the memory 1102, and when executed by the processor 1101, they perform the following: Figures 5 to 7 The illustrated embodiments represent a console control method or a console seat control method.

[0188] The aforementioned controller can be Figure 1The first controller in the system; for details, please refer to [link / reference]. Figure 7 , Figure 8 The relevant descriptions and effects in the corresponding embodiments are for reference only and will not be repeated here. The controller described above can also be Figure 1 The second controller in the system, for details please refer to Figure 9 , Figure 10 The relevant descriptions and effects in the corresponding embodiments will be explained, and will not be repeated here.

[0189] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk drive (HDD), or solid-state drive (SSD), etc.; the storage medium can also include combinations of the above types of memory.

[0190] In the 1990s, improvements to a technology could be clearly distinguished as either hardware improvements (e.g., improvements to the circuit structure of diodes, transistors, switches, etc.) or software improvements (improvements to the methodology). However, with technological advancements, many methodological improvements today can be considered direct improvements to the hardware circuit structure. Designers almost always obtain the corresponding hardware circuit structure by programming the improved methodology into the hardware circuit. Therefore, it cannot be said that a methodological improvement cannot be implemented using hardware physical modules. For example, a Programmable Logic Device (PLD) (e.g., a Field Programmable Gate Array (FPGA)) is such an integrated circuit whose logic function is determined by the user programming the device. Designers can program a digital system themselves to "integrate" it onto a PLD, without needing chip manufacturers to design and manufacture dedicated integrated circuit chips. Furthermore, nowadays, instead of manually manufacturing integrated circuit chips, this programming is mostly implemented using "logic compiler" software. Similar to the software compiler used in program development, the original code before compilation must also be written in a specific programming language, called a Hardware Description Language (HDL). There are many HDLs, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, and RHDL (Ruby Hardware Description Language). Currently, the most commonly used are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog2. Those skilled in the art should also understand that by simply performing some logic programming on the method flow using one of these hardware description languages ​​and programming it into an integrated circuit, the hardware circuit implementing the logical method flow can be easily obtained.

[0191] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on its differences from other embodiments. In particular, hardware + program embodiments are relatively simple in description because they are fundamentally similar to method embodiments; relevant parts can be referred to the descriptions in the method embodiments.

[0192] The foregoing has described specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are possible or may be advantageous.

[0193] Those skilled in the art will also know that, besides implementing the controller using purely computer-readable program code, the same functions can be achieved by logically programming the method steps, making the controller function as logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers (PLCs), and embedded microcontrollers. Therefore, such a controller can be considered a hardware component, and the devices within it used to implement various functions can also be considered structures within that hardware component. Alternatively, the devices used to implement various functions can be considered as both software modules implementing the method and structures within a hardware component.

[0194] The above description is merely an embodiment of the present specification and is not intended to limit the embodiments of the present specification. For those skilled in the art, various modifications and variations can be made to the embodiments of the present specification. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the embodiments of the present specification should be included within the scope of the claims of the embodiments of the present specification.

Claims

1. A console control method, characterized in that, include: When the target object on the controlled seat meets the preset trigger state, a first adjustment signal is sent to the controlled seat; The first adjustment signal is used to control the controlled seat to adjust to the first target posture; The preset trigger state refers to the target object being in a state where it can begin to be operated; When it is determined that the controlled seat has been adjusted to the first target pose, the control permission of the manipulator in the control console associated with the controlled seat is granted to the target object. The manipulator is used to control the actions of the robot. The controlled seat is determined to have been adjusted to the first target pose by receiving an adjustment completion signal sent by the controlled seat. Monitor the operation process of the robot; When the operation process changes from in operation to operation end, a second adjustment signal is sent to the controlled seat to control the controlled seat to adjust to a second target posture. The second target posture includes the initial posture of the controlled seat before the target operation begins. The second adjustment signal is used to trigger the controlled seat to detect the value of the friction force on the seat surface. When the value of the friction force reaches a third predetermined condition, the controlled seat is controlled to adjust to the second target posture according to the second adjustment signal.

2. The method according to claim 1, characterized in that, Before sending the first adjustment signal to the controlled seat, the method further includes: Determine whether a specified part of the target object is located at the predetermined position; When a specified part of the target object is located at a predetermined position, the target object is determined to meet a preset trigger state.

3. The method according to claim 2, characterized in that, Determining whether a specified part of the target object is located at a predetermined position includes: A wave signal is transmitted from a wave generator to a wave transceiver unit positioned opposite to it, and the wave transceiver unit transmits and receives wave signals to the wave generator at predetermined intervals. When the frequency of the echo received by the transceiver unit is the same as the frequency or amplitude of the transmitted wave, and the distance to the obstacle calculated based on the echo and the transmitted wave reaches a first predetermined condition, the head of the target object is determined to be located at a predetermined position, wherein the predetermined position is located between the wave generating device and the wave transceiver unit.

4. The method according to claim 2, characterized in that, Determining whether a specified part of the target object is located at a predetermined position includes: Acquire the pressure or temperature values ​​sensed on the controller; When the pressure or temperature value sensed on the manipulator reaches a second predetermined condition, it is determined that the hand of the target object is located in a predetermined position, wherein the predetermined position is the surface of the manipulator.

5. The method according to claim 2, characterized in that, Determining whether a specified part of the target object is located at a predetermined position includes: Acquire an image of the target object captured by the camera; Detect whether the head image of the target object is within a predetermined area of ​​the camera's field of view; When within the predetermined area, determine that the head of the target object is located at the predetermined position.

6. The method according to claim 1, characterized in that, After sending the first adjustment signal to the controlled seat, and before granting control access to the controller in the console associated with the controlled seat to the target object, the method further includes: A pose lock signal is sent to the controlled seat, the pose lock signal being used to lock the pose of the controlled seat; Accordingly, after granting control permissions to the controller in the console associated with the controlled seat to the target object, the method further includes: Monitor the operation process of the robot; When the operation process changes from in operation to operation end, a posture unlock signal is sent to the controlled seat. The posture unlock signal is used to unlock the posture of the controlled seat.

7. The method according to claim 1, characterized in that, After granting control permissions to the controller in the console associated with the controlled seat to the target object, the method further includes: Monitor the operation process of the robot; When the operation process changes from in operation to operation completed, the target object's control over the manipulator is terminated.

8. The method according to claim 6 or 7, characterized in that, Monitoring the operation process of the robot includes: The system receives an instruction signal from the operating robot, the instruction signal being determined based on the content indicated by an instruction device installed on the operating robot, and the instruction signal being used to characterize the operation progress of the operating robot. The operation process of the robot is determined based on the indication signal.

9. A method for controlling a seat on a control panel, characterized in that, include: The controlled seat receives the first adjustment signal sent by the control panel; The first adjustment signal is sent when the target object on the controlled seat meets the preset trigger state; The preset trigger state refers to the target object being in a state where it can begin to be operated; Adjust to the first target pose according to the first adjustment signal; Once the first target pose has been adjusted, an adjustment completion signal is sent to the control console to control the control console to grant the target object control access to the manipulator in the control console. The manipulator is used to control the actions of the robot. Receive the second adjustment signal sent from the control panel; The second adjustment signal is sent to the controlled seat by the control panel when it detects that the operation process of the robot has changed from in operation to operation completion; The value of the friction force on the seat surface is measured; When the friction force reaches the third predetermined condition, the controlled seat is adjusted to the second target position according to the second adjustment signal.

10. The method according to claim 9, characterized in that, After the position has been adjusted to the first target pose, and before sending an adjustment completion signal to the control panel, the process further includes: Detect whether the position and posture of the controlled seat are locked; When locked, the adjustment completion signal is generated.

11. The method according to claim 9, characterized in that, The second target pose is the pose of the controlled seat before adjustment based on the first adjustment signal; after adjusting to the second target pose, the method further includes: The value of the friction force on the seat surface is measured; When the friction force reaches the fourth predetermined condition, the position of the controlled seat continues to be adjusted in the direction of adjusting to the second target position.

12. A control panel system, characterized in that, include: The control panel includes a detection device, a manipulator, a first communication device, and a first controller; wherein the detection device is used to detect whether the target object on the controlled seat meets a preset trigger state, the manipulator is used to control the actions of the operating robot, the first communication device is used to transmit signals between the controlled seat and the operating robot, and the first controller is used to execute the method of any one of claims 1 to 8. The controlled seat includes a seat body, a motor, a second communication device, and a second controller; wherein the motor is used to adjust the position of the seat body, the second communication device is used to transmit signals with the control panel, and the second controller is used to execute the method of any one of claims 9 to 11. A friction sensor is installed on the seat plate of the seat body to detect the value of the friction force on the seat plate surface.

13. The system according to claim 12, characterized in that, The control panel also includes: The observation room has a semi-enclosed structure and is equipped with a display device. The opening of the observation room is used to place the head of the target object.

14. The system according to claim 13, characterized in that, The control panel also includes: A wave generator is installed at the first position in the observation room; The wave transceiver is located at a second position in the observation room, opposite to the first position. When the head of the target object is not placed in the observation room, the wave transceiver can receive the wave signal emitted by the wave generator. When the head of the target object is placed in the observation room, the wave transceiver cannot receive the wave signal emitted by the wave generator.

15. The system according to claim 14, characterized in that, The wave generator is a laser, and the wave transceiver is an ultrasonic transceiver.

16. The system according to claim 12, characterized in that, The seat body includes a base and a seat plate; the controlled seat also includes: Guide rails are mounted on the base; A slider is slidably mounted on the guide rail; the seat plate is mounted on the slider. A lead screw is connected to the slider. When the lead screw rotates under the drive of the motor, it causes the seat plate on the slider to move.

17. The system according to claim 16, characterized in that, The controlled seat shown also includes: The brake is used to lock the position of the controlled seat.

18. An operating console, characterized in that, include: The system comprises a detection device, a manipulator, a first communication device, and a first controller; wherein the detection device is used to detect that a target object on the controlled seat meets a preset trigger state, the manipulator is used to control the actions of the operating robot, the first communication device is used to transmit signals between the controlled seat and the operating robot, and the first controller is used to execute the method of any one of claims 1 to 8.

19. A computer storage medium, characterized in that, The computer storage medium stores computer program instructions, which, when executed, implement the steps of the method according to any one of claims 1 to 8.

20. A seat for a control panel, characterized in that, include: The seat body, motor, second communication device, and second controller are provided; wherein the motor is used to adjust the position of the seat body, the second communication device is used to transmit signals with the control panel, and the second controller is used to execute the method of any one of claims 9 to 11.

21. A computer storage medium, characterized in that, The computer storage medium stores computer program instructions, which, when executed, implement the steps of the method according to any one of claims 9 to 11.

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