Control method and device for medical mirror and mirror-holding robot system

Abstract

This application relates to a control method, control device, control equipment, a mirror-steering robot system, and storage medium for a medical mirror. The control method is applied to the control equipment in the mirror-steering robot system; the mirror-steering robot system is used to install the medical mirror, and the control equipment is electrically connected to the medical mirror. The method includes: obtaining current motion data of a preset part of the user's body; compensating the current motion data and outputting control parameters; the control parameters are used to instruct the medical mirror to move in accordance with the motion of the preset part of the user's body. This method can improve the speed and flexibility of medical mirror control, thereby improving surgical efficiency. Furthermore, the surgeon, acting as the user, can independently control the movement of the medical mirror without requiring the surgeon holding the mirror to participate in the operation, reducing the number of surgical personnel and the cost of the procedure.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to a control method, a control device, a control equipment, a mirror-holding robot system, and a storage medium for a medical mirror. Background Art

[0002] With the development of medical technology, minimally invasive surgery has become widely used in clinical practice due to its advantages, such as small incisions, minimal blood loss, mild postoperative pain, and short hospitalization and recovery periods. Medical mirrors are responsible for displaying and guiding the doctor's surgical procedures during minimally invasive surgery. In traditional methods, the doctor holding the mirror controls the movement of the medical mirror by operating the joystick or buttons of the mirror-control robot, thereby achieving the desired viewing angle of the medical mirror on the display device. However, traditional methods have low speed and flexibility in controlling the medical mirror, resulting in reduced efficiency of minimally invasive surgery. Summary of the Invention

[0003] Based on this, it is necessary to provide a control method, control device, control equipment, mirror-holding robot system and storage medium for medical mirrors that can improve the speed and flexibility of medical mirror control in order to address the above technical problems.

[0004] In a first aspect, a control method for a medical mirror is provided, wherein the control method is applied to a mirror-supporting robot system; the mirror-supporting robot system includes a medical mirror and a control device, wherein the control device is communicatively connected to the medical mirror; the control method includes:

[0005] Get the current motion data of the preset part of the user's body;

[0006] The current motion data is compensated and a control parameter is output; the control parameter is used to instruct the medical mirror to move in accordance with the motion of a preset part of the user's body.

[0007] In one embodiment, the step of performing compensation processing on the current motion data and outputting the control parameter includes: obtaining the previous compensation coefficient; performing compensation calculation based on the current motion data and the previous compensation coefficient to obtain the control parameter.

[0008] In one embodiment, the current motion data is compensated, and the step of outputting the control parameters also includes the step of determining the current compensation coefficient; the step of determining the current compensation coefficient includes: based on the last compensation coefficient and the test motion data of the preset part of the user's body; the motion trajectory corresponding to the test motion data includes moving from the reference position of the display area to the original position of the target object in the display area; compensation calculation is performed based on the test motion data and the last compensation coefficient, and the test parameters are output; the test parameters are used to indicate that the target object moves within the display area; when it is confirmed that the target object has stopped moving, the position of the target object after movement within the display area is obtained; according to the deviation between the reference position and the position after movement, the last compensation coefficient is adjusted to obtain the current compensation coefficient.

[0009] In one embodiment, the step of compensating the current motion data and outputting the control parameters also includes: obtaining calibration motion data of a preset part of the user's body; the end point of the motion trajectory corresponding to the calibration motion data is the position of the calibration point in the display area; processing the calibration motion data to obtain the position data of the calibration point; and normalizing the current motion data according to the position data of the calibration point.

[0010] In one embodiment, the current motion data of the preset part of the user's body includes motion data of the user's head.

[0011] In one embodiment, the motion data of the user's head includes the motion acceleration of the user's head; the control parameter includes the expected movement angle of the medical mirror; the current motion data is compensated and the steps of outputting the control parameters include: converting and calculating the motion acceleration to obtain the motion angle of the user's head; compensating the motion angle and outputting the expected movement angle.

[0012] In one embodiment, the control parameter includes a moving speed of the medical mirror, and the control method further includes: obtaining a movement angular velocity of the user's head; and determining a movement angular velocity based on the movement angular velocity.

[0013] In a second aspect, a control device for a medical mirror is provided, which is applied to a control device in a mirror-supporting robot system; the mirror-supporting robot system is used to install the medical mirror, and the control device is electrically connected to the medical mirror; the control device includes: a data acquisition module, used to obtain current motion data of a preset part of the user's body; a compensation processing module, used to compensate the current motion data and output control parameters; the control parameters are used to instruct the medical mirror to move following the motion of the preset part of the user's body.

[0014] In a third aspect, a control device is provided, which includes a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of any method in the above method embodiments are implemented.

[0015] In a fourth aspect, a mirror-holding robot system is provided, which includes a sensor module and a control device in the above-mentioned control device embodiment; the sensor module is electrically connected to the control device and is used to collect current motion data of a preset part of the user's body.

[0016] In one embodiment, the sensing module is a MEMS sensor.

[0017] In one embodiment, the mirror-holding robot system further includes a display device; the display device is electrically connected to the control device and is used to display images captured by the medical mirror on a display area.

[0018] In one embodiment, the mirror-holding robot system also includes a robotic arm; the robotic arm is used to install the medical mirror; the robotic arm is electrically connected to the control device, used to receive control parameters output by the control device, and perform actions according to the control parameters, so that the medical mirror rotates to follow the movement of a preset part of the user's body.

[0019] In a fifth aspect, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of any method in the above method embodiments are implemented.

[0020] The control method, control device, control equipment, mirror-holding robot system, and storage medium for the medical mirror described above acquire current motion data of a preset body part of the user and perform compensation processing on the current motion data of the preset body part to output control parameters. The control parameters thereby instruct the medical mirror to accurately and synchronously follow the movements of the preset body part of the user. This also enables the viewing angle of the medical mirror displayed on the display device to accurately and synchronously follow the movements of the preset body part of the user. This improves the speed and flexibility of medical mirror control, thereby enhancing surgical efficiency. Furthermore, the surgeon alone, as the user, can independently control the movement of the medical mirror without requiring the surgeon holding the mirror to participate in the operation, reducing surgical staffing and lowering surgical costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a first flow chart of a method for controlling a medical mirror in one embodiment;

[0022] Figure 2 A first flow chart of the steps of performing compensation processing on current motion data and outputting control parameters in one embodiment;

[0023] Figure 3 A schematic flow chart of the steps of determining a current compensation coefficient in one embodiment;

[0024] Figure 4 is a second flow chart of a method for controlling a medical mirror in another embodiment;

[0025] Figure 5 A schematic diagram of a three-dimensional space coordinate system established in a specific example;

[0026] Figure 6 This is an example diagram of the data changes on the X-axis when a preset part of the user's body moves horizontally left and right in a specific example;

[0027] Figure 7 This is an example diagram of the data changes on the Z axis when a preset part of the user's body moves up, down, left, and right in a specific example;

[0028] Figure 8 This is an example diagram of understanding the motion range of a preset part of a user's body through position data of a calibration point in a specific example;

[0029] Figure 9 A second flow chart of the step of performing compensation processing on current motion data and outputting control parameters in another embodiment;

[0030] Figure 10 is a structural block diagram of a control device for a medical mirror in one embodiment;

[0031] Figure 11 is a diagram of the internal structure of a computer device in one embodiment;

[0032] Figure 12 Schematic diagram of the structure of a mirror-holding robot system in one embodiment. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0034] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application pertains. The terms used herein in the specification of this application are for the purpose of describing specific embodiments only and are not intended to limit this application.

[0035] It will be understood that the terms "first," "second," etc., used herein may be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish a first element from another element. For example, a first resistor may be referred to as a second resistor, and similarly, a second resistor may be referred to as a first resistor without departing from the scope of this application. The first resistor and the second resistor are both resistors, but they are not the same resistor.

[0036] It can be understood that the “connection” in the following embodiments should be understood as “electrical connection”, “communication connection”, etc. if there is transmission of electrical signals or data between the connected circuits, modules, units, etc.

[0037] When used herein, the singular forms "a", "an", and "the" may also include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "include / comprise" or "have" and the like specify the presence of stated features, integers, steps, operations, components, parts, or combinations thereof, but do not preclude the possibility of the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof.

[0038] The embodiments of the present application provide a control method, control device, control equipment, mirror-holding robot system and storage medium for a medical mirror, which can improve the speed and flexibility of controlling the medical mirror, thereby improving the efficiency of the operation; at the same time, there is no need for the doctor holding the mirror to participate in the operation, and only the surgeon as the user can independently control the movement of the medical mirror, thereby reducing the configuration of surgical personnel and reducing surgical costs.

[0039] In one embodiment, Figure 1 As shown, a control method for a medical mirror is provided. This embodiment uses the method as an example for a robotic system for assisting a mirror. The robotic system for assisting a mirror includes a medical mirror and a control device, which is communicatively connected to the medical mirror. In this embodiment, the method includes steps 101 and 105.

[0040] Step 101: Obtain current motion data of a preset part of the user's body.

[0041] Among them, the current motion data of the preset part of the user's body can be, but is not limited to, the motion data of any preset part of the user's body as the surgeon at the current moment. In one embodiment, the current motion data of the preset part of the user's body includes the motion data of the user's head. In a specific example, by setting a sensor module at the corresponding position of the user's head, the current motion data of the user's head can be collected through the sensor module, so that the control device can obtain the current motion data of the user's head through the sensor module. The above is only a specific example. In actual application, it can be flexibly set according to user needs and is not limited here.

[0042] Step 105: Perform compensation processing on the current motion data and output control parameters.

[0043] The control parameters are used to instruct the medical scope to move in accordance with the movements of a preset body part of the user. It is understood that the medical scope may be, but is not limited to, a laparoscope or an endoscope. The control device outputs the control parameters by acquiring current motion data of the preset body part of the user and performing compensation processing on the current motion data of the preset body part of the user.

[0044] In a specific example, the preset part of the user's body can be, but is not limited to, the user's head. When the surgeon's head moves 30 degrees to the left horizontally, the sensor module provided on the surgeon's head can collect the current motion data of the surgeon's head moving 30 degrees to the left horizontally. The control device can obtain the control parameters by compensating the current motion data obtained. This can also achieve the control parameters to synchronously follow the movement of the preset part of the user's body in the corresponding space, so that the viewing angle of the medical mirror displayed on the display device accurately and synchronously follows the movement of the preset part of the user's body to switch to the area 30 degrees to the left horizontally. The above is only a specific example. In actual application, it can be flexibly set according to user needs and is not limited here.

[0045] The aforementioned method for controlling a medical mirror obtains current motion data of a preset body part of the user and performs compensation processing on the current motion data of the preset body part to output control parameters. This control parameter instructs the medical mirror to accurately and synchronously follow the movements of the preset body part of the user. Consequently, the viewing angle of the medical mirror displayed on the display device accurately and synchronously follows the movements of the preset body part of the user. This improves the speed and flexibility of medical mirror control, thereby enhancing surgical efficiency. Furthermore, the surgeon alone, as the user, can independently control the movement of the medical mirror without requiring the surgeon holding the mirror to participate in the operation, reducing surgical staffing and lowering surgical costs.

[0046] In one embodiment, Figure 2 As shown, the steps of performing compensation processing on the current motion data and outputting control parameters include step 201 and step 202.

[0047] Step 201: Obtain the previous compensation coefficient.

[0048] Step 202: Perform compensation calculation based on the current motion data and the previous compensation coefficient to obtain control parameters.

[0049] Among them, the control device can output accurate control parameters by determining the current compensation coefficient and performing compensation calculation on the current motion data of the preset part of the user's body through the current compensation coefficient, so as to output control parameters, thereby accurately instructing the medical mirror to move following the movement of the preset part of the user's body through the control parameters.

[0050] In a specific example, the current compensation coefficient can be determined before the operation and when the position of the display device of the support mirror robot system and the position of the surgeon as the user are determined, the compensation coefficient algorithm can be started to determine the current compensation coefficient according to actual needs; at the same time, the current compensation coefficient can also be determined and the current compensation coefficient can be adjusted in real time based on the compensation coefficient algorithm according to actual needs during the operation. The above is only a specific example. In actual applications, it can be flexibly set according to user needs and is not limited here.

[0051] In this embodiment, a compensation coefficient is introduced to participate in the compensation calculation of the current action data, thereby obtaining control parameters so that the action position of the user's preset part is consistent with the actual moving position of the medical mirror, thereby ensuring the speed and flexibility of the medical mirror control, and improving the accuracy of the medical mirror control method.

[0052] In one embodiment, Figure 3 As shown, the current motion data is compensated, and the step of outputting the control parameter further includes the step of determining the current compensation coefficient; the step of determining the current compensation coefficient includes steps 301 to 304.

[0053] Step 301: Based on the last compensation coefficient and the test motion data of the preset part of the user's body.

[0054] Among them, the motion trajectory corresponding to the test motion data includes moving from the reference position of the display area to the original position of the target object in the display area. In a specific example, the display area can be, but is not limited to, the area used for display by the display device in the mirror-supported robot system, the reference position of the display area can be, but is not limited to, the center position of the display area, that is, the center position of the display device, the target object in the display area can be flexibly set to different shapes and colors according to user needs, and the original position of the target object can be, but is not limited to, flexibly set to any position in the display area other than the reference position according to user needs. The above is only a specific example, and in actual application, it can be flexibly set according to user needs, and is not limited here.

[0055] It is understandable that the motion trajectory corresponding to the test motion data of the preset part of the user's body can be used to understand how the preset part of the user's body moves from the reference position of the display area to the original position of the target object in the display area.

[0056] Step 302: Perform compensation calculation based on the test action data and the last compensation coefficient, and output the test parameters.

[0057] The test parameters are used to instruct the target object to move within the display area. The control device can obtain the last compensation coefficient and the test motion data of the preset part of the user's body, and compensate the test motion data of the preset part of the user's body using the last compensation coefficient to output accurate test parameters. The test parameters are then used to instruct the target object to move along the motion trajectory corresponding to the test motion data of the preset part of the user's body.

[0058] In step 303 , when it is confirmed that the target object has stopped moving, the position of the target object after movement in the display area is obtained.

[0059] Among them, when the control device outputs accurate test parameters, it can use the test parameters to instruct the target object to move along the motion trajectory corresponding to the test motion data of the preset part of the user's body; and when the target object stops moving, the position of the target object after movement in the display area is obtained in time.

[0060] Step 304: According to the deviation between the reference position and the position after the movement, the previous compensation coefficient is adjusted to obtain the current compensation coefficient.

[0061] Among them, after obtaining the position of the target object after movement in the display area, the control device can adjust the previous compensation coefficient according to the deviation between the reference position in the display area and the position of the target object after movement in the display area, thereby obtaining the current compensation coefficient.

[0062] In a specific example, when the deviation between the reference position in the display area and the position of the target object after moving in the display area is 0, it means that according to the last compensation coefficient, the target object can be accurately moved from the original position to the reference position according to the motion trajectory corresponding to the test motion data of the preset part of the user's body indicated by the test parameters, which means that the last compensation coefficient does not need to be further adjusted. At this time, it is only necessary to keep the last compensation coefficient as the current compensation coefficient to ensure that the medical mirror can accurately follow the movement of the preset part of the user's body during the control process of the medical mirror. At the same time, when the deviation between the reference position in the display area and the position of the target object after movement in the display area is not 0, it means that according to the last compensation coefficient, the target object cannot accurately move from the original position to the reference position according to the test parameter indication of the test action data corresponding to the test action data of the preset part of the user's body. This means that the last compensation coefficient needs to be further adjusted. At this time, it is necessary to adjust the last compensation coefficient according to the deviation between the reference position and the position after movement, and use the adjusted last compensation coefficient as the current compensation coefficient to ensure that the medical mirror can accurately follow the movement of the preset part of the user's body during the control process of the medical mirror; the above is only a specific example. In actual application, it can be flexibly set according to the actual needs of the user, and is not limited here.

[0063] In this embodiment, by adjusting the previous compensation coefficient based on the deviation between the reference position and the position after movement, the current compensation coefficient is obtained, which can ensure that the medical mirror can accurately follow the movement of the preset part of the user's body during the control process of the medical mirror, thereby improving the accuracy of the medical mirror control.

[0064] In one embodiment, before the step of obtaining the current motion data of a preset part of the user's body, the step of confirming the entry into the medical mirror auxiliary control mode is also included; and after the step of compensating the current motion data and outputting the control parameters, the step of exiting the medical mirror auxiliary control mode is also included.

[0065] In one embodiment, the step of compensating the current motion data and outputting the control parameters includes: filtering and denoising the current motion data to obtain standard motion data; and compensating the standard motion data to output the control parameters. In this embodiment, the control device denoises the current motion data to obtain standard motion data, and then compensates the standard motion data to output accurate control parameters, thereby improving the control accuracy and reliability of the medical mirror.

[0066] In a specific example, the current action data can be filtered based on a filtering algorithm to obtain corresponding standard action data. The filtering algorithm can be, but is not limited to, a Kalman filtering algorithm, a ground-based average filtering algorithm, a first-order lag filtering algorithm, etc.; and, when the Kalman filtering algorithm is used to filter the current action data, it has a good filtering denoising effect and prediction capability. The above is only a specific example. In actual applications, it can be flexibly set according to user needs and is not limited here.

[0067] In a specific example, a sensor module may be set at a corresponding position of a preset part of the user's body to collect current motion data of the preset part of the user's body in an established three-dimensional space coordinate system. Taking the x-axis as an example, is the acceleration of the sensor module on the x-axis at time k, A is the state transfer moment, u k is the external impact at time k, P is the error matrix, and Q is the covariance matrix of the prediction noise.

[0068] because and,

[0069] Therefore, the Kalman gain K at time k can be calculated based on the following expression: k :

[0070]

[0071] Therefore, the acceleration of the sensor module on the x-axis at time k after filtering can be calculated based on the following expression:

[0072]

[0073] Finally, based on the error covariance matrix Q between the estimated value and the true value, we prepare for the next recursion. The error matrix P at time k can be calculated based on the following expression k :

[0074]

[0075] The above are only specific examples. In actual applications, they can be flexibly configured according to user needs and are not limited here.

[0076] In one embodiment, Figure 4 As shown, the current motion data is compensated and the step of outputting the control parameters also includes steps 102 to 104.

[0077] Step 102: Obtain calibration motion data of a preset part of the user's body.

[0078] The endpoint of the motion trajectory corresponding to the calibration motion data is the location of the calibration point within the display area. In a specific example, the calibration motion data for a preset part of the user's body can be obtained upon receiving a calibration instruction, or upon confirming that the preset part of the user's body has remained there for a preset time. In addition, a preset number of calibration points can be set in the display area, and each calibration point can be set at the intersection of the boundary lines of the display area or at the center of the display area. The above are only specific examples. In actual applications, they can be flexibly set according to user needs and are not limited here.

[0079] Step 103: Process the calibration action data to obtain position data of the calibration points.

[0080] Step 104 : normalize the current motion data according to the position data of the calibration points.

[0081] Among them, the control device can obtain the calibration motion data of the preset part of the user's body, and obtain the position data of the calibration point by processing the calibration motion data; then, the current motion data can be normalized according to the position data of the calibration point.

[0082] In a specific example, a sensor module can be set at a corresponding position of a preset part of the user's body, so that the current movement data of the user's head can be collected through the sensor module. At the same time, a three-dimensional space coordinate system can be established with the sensor module as the origin. In this embodiment, Figure 5 As shown in FIG, the Y-axis direction is set to be perpendicular to the plane corresponding to the display area on the display device in the mirror-supporting robot system. Figure 6 As shown in FIG, when the preset part of the user's body moves horizontally left and right, the position data that changes mainly is the data of the X axis; and, as Figure 7 As shown in the figure, when the preset part of the user's body moves up and down, the position data that changes mainly is the Z-axis data, so the direction that needs to be calibrated and compensated can be determined by the position data corresponding to the X-axis and Y-axis. The control device obtains the established three-dimensional coordinate system, and when receiving the calibration control instruction, it promptly obtains the calibration action data of the preset part of the user's body in the established three-dimensional coordinate system; then, as shown in the figure, Figure 8As shown, when the calibration motion data confirms that the user's preset body position is facing the display area, the calibration point position data can be processed to obtain the calibration motion data, thereby understanding the motion range of the preset part of the user's body. Finally, the current motion data is normalized based on the calibration point position data, which helps improve the accuracy of subsequent compensation processing of the current motion data, thereby obtaining precise control parameters, thereby more accurately controlling the movement of the medical mirror. The above is only a specific example. In actual application, it can be flexibly set according to user needs and is not limited here.

[0083] In this embodiment, the position data of the calibration point can be obtained by processing the calibration motion data, and the motion range of the preset part of the user's body can be understood; then, the current motion data can be normalized according to the position data of the calibration point, thereby improving the accuracy of the current motion data and more accurately controlling the movement of the medical mirror.

[0084] In one embodiment, Figure 9 As shown, the motion data of the user's head includes the motion acceleration of the user's head, and the control parameter includes the desired movement angle of the medical mirror. The steps of compensating the current motion data and outputting the control parameter include steps 901 and 902.

[0085] Step 901: convert and calculate the motion acceleration to obtain the motion angle of the user's head.

[0086] Step 902: Compensate the motion angle and output the expected movement angle.

[0087] Among them, the control device can obtain the movement data of the user's head to obtain the movement acceleration of the user's head; then, the movement acceleration can be converted and calculated to obtain the movement angle of the user's head; then, the movement angle of the user's head is compensated to output the accurate expected movement angle.

[0088] In this embodiment, the above steps can achieve the goal of accurately following the movement angle of the user's head by instructing the medical mirror to move according to the desired movement angle in the control parameters, so that the viewing angle of the medical mirror displayed on the display device can accurately follow the movement angle of the user's head; thereby improving the speed and flexibility of the medical mirror control.

[0089] In a specific example, a sensor module can be set at the corresponding position of the user's head to collect the acceleration of the user's head movement in the established three-dimensional space coordinate system. The acceleration of the user's head movement cannot be directly used as a control parameter, so it is necessary to convert the acceleration of the user's head movement or the filtered acceleration of the user's head movement to obtain the movement angle of the user's head. The movement angle of the user's head is obtained based on the following expression:

[0090]

[0091]

[0092]

[0093] Where θ is the rotation angle of the user's head in the x-axis direction, ψ is the rotation angle of the user's head in the y-axis direction, is the rotation angle of the user's head in the z-axis direction, A x,OUT is the acceleration of the user's head in the x-axis direction, A y,OUT is the acceleration of the user's head in the y-axis direction, A z,OUT is the acceleration of the user's head in the z-axis direction. It can be understood that the movement angle of the user's head can include θ, ψ and

[0094] Then, through the steps of determining the compensation coefficient, it can be understood that the compensation coefficient is k1;

[0095] The expected movement angle is obtained based on the following expression:

[0096] l x =θ·k1

[0097]

[0098] Among them, l x is the desired movement angle in the x-axis direction, l z is the desired movement angle in the z-axis direction, k1 is the compensation coefficient, θ is the rotation angle of the user's head, i.e. the sensor module, in the x-axis direction, It is the rotation angle of the user's head, i.e. the sensor module, in the z-axis direction.

[0099] Through the above compensation calculation, we can know l x is the expected movement angle of the medical mirror in the x-axis direction, l z is the expected movement angle of the medical mirror in the z-axis direction, and the actual rotation angle of the medical mirror is j x and j z ; Among them, j x is the actual rotation angle of the medical mirror in the x-axis direction, jz is the actual rotation angle of the medical mirror in the z-axis direction. The specific analysis is as follows based on the x-axis:

[0100] By normalizing the current action data according to the position data of the calibration point, we can obtain and according to and The expected value e(t) can be obtained, that is

[0101] The required rotation angle u(t) of the motor of the robotic arm in the mirror-supporting robot system in the x-axis direction at time t can be obtained based on the following formula:

[0102]

[0103] Among them, K P is the proportional coefficient of the controller; T i is the integral time of the controller, that is, the integral coefficient; Td is the differential time of the controller, that is, the differential coefficient; the above is only a specific example, and in actual application, it can be flexibly set according to user needs and is not limited here.

[0104] In one embodiment, the control parameter includes a moving speed of the medical mirror, and the control method further includes: obtaining a movement angular velocity of the user's head; and determining a movement angular velocity based on the movement angular velocity.

[0105] The control device obtains the angular velocity of the user's head and determines the angular velocity of the medical mirror in the control parameters based on the angular velocity of the user's head. In one specific example, the angular velocity of the user's head can be acquired by a sensor module mounted on the user's head. Alternatively, the angular velocity of the medical mirror can be controlled by adjusting the speed of the motor in the robotic arm of the mirror-supporting robot system. The above is merely an example; in actual applications, the angular velocity can be flexibly adjusted based on user needs and is not limited here.

[0106] In this embodiment, by controlling the angular velocity of the medical mirror in the parameters and combining it with the expected movement angle, the medical mirror can be instructed to move accurately and synchronously following the movements of the preset part of the user's body. This also enables the viewing angle of the medical mirror displayed on the display device to move accurately and synchronously following the movements of the preset part of the user's body, thereby improving the speed and flexibility of the medical mirror control.

[0107] It should be understood that although Figure 1-5 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. In addition, Figure 1-5 At least part of the steps may include multiple steps or multiple stages. These steps or stages are not necessarily performed at the same time, but can be performed at different times. The order of execution of these steps or stages is not necessarily one by one, but can be performed in turn or alternately with other steps or at least part of the steps or stages in other steps.

[0108] In one embodiment, Figure 10 As shown, a control device for a medical mirror is provided, which is applied to the control device of a robotic system for assisting the mirror; the robotic system is used to install the medical mirror, and the control device is electrically connected to the medical mirror. The control device for the medical mirror includes a data acquisition module 610 and a compensation processing module 620.

[0109] Among them, the data acquisition module 610 is used to obtain the current motion data of the preset part of the user's body; the compensation processing module 620 is used to compensate the current motion data and output control parameters; the control parameters are used to instruct the medical mirror to move following the movement of the preset part of the user's body.

[0110] In one embodiment, the compensation processing module 620 includes a compensation coefficient determination unit and a compensation calculation processing unit. The compensation coefficient determination unit is used to determine the current compensation coefficient; the compensation calculation processing unit is used to perform compensation calculation based on the current motion data and the current compensation coefficient to obtain the control parameter.

[0111] In one embodiment, the compensation coefficient determination unit includes a coefficient acquisition subunit, a test parameter calculation subunit, a post-movement position acquisition subunit, and a coefficient adjustment subunit. The coefficient acquisition subunit is used to acquire the previous compensation coefficient and test motion data of a preset part of the user's body; the motion trajectory of the test motion data includes movement from a reference position in the display area to the original position of the target object in the display area; the test parameter calculation subunit performs compensation calculation based on the test motion data and the previous compensation coefficient and outputs a test parameter; the test parameter is used to indicate the movement of the target object in the display area; the post-movement position acquisition subunit, upon confirming that the target object has stopped moving, acquires the post-movement position of the target object in the display area; and the coefficient adjustment subunit adjusts the previous compensation coefficient based on the deviation between the original position and the post-movement position to obtain the current compensation coefficient.

[0112] In one embodiment, the data acquisition module 610 is also used to obtain calibration motion data of a preset part of the user's body; the end point of the motion trajectory of the calibration motion data is the position of the calibration point in the display area; the compensation processing module 620 is used to process the calibration motion data to obtain the position data of the calibration point; the compensation processing module 620 is also used to normalize the current motion data based on the position data of the calibration point.

[0113] In one embodiment, the current motion data of the preset part of the user's body includes motion data of the user's head.

[0114] In one embodiment, the user's head motion data includes the user's head acceleration; the control parameter includes the desired movement angle of the medical mirror. The compensation processing module 620 includes a conversion calculation unit and an angle compensation processing unit. The conversion calculation unit is used to convert the motion acceleration to obtain the user's head motion angle; the angle compensation processing unit is used to compensate the motion angle and output the desired movement angle.

[0115] In one embodiment, the data acquisition module 610 is further configured to acquire the motion angular velocity of the user's head; and the compensation processing module 620 is configured to determine the movement angular velocity based on the motion angular velocity.

[0116] The specific definitions of the control device for a medical mirror can be found in the definitions of the control method for a medical mirror described above and will not be repeated here. Each module in the control device for the medical mirror can be implemented in whole or in part through software, hardware, or a combination thereof. Each of these modules can be embedded in or independent of a processor in a computer device in hardware form, or stored in a computer device memory in software form, so that the processor can call and execute the corresponding operations of each module.

[0117] In one embodiment, a control device 820 is provided. The control device 820 may be a terminal, and its internal structure diagram may be as follows: Figure 11As shown. The control device 820 includes a processor, memory, a communication interface, a display screen, and an input device connected via a system bus. The processor of the control device 820 is used to provide computing and control capabilities. The memory of the control device 820 includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The communication interface of the control device 820 is used to communicate with an external terminal in a wired or wireless manner. The wireless manner can be achieved through WiFi, a carrier network, NFC (near-field communication), or other technologies. When the computer program is executed by the processor, a method for controlling a medical mirror is implemented. The display screen of the control device 820 can be a liquid crystal display or an electronic ink display screen. The input device of the control device 820 can be a touch layer covering the display screen, or a button, trackball, or touchpad provided on the housing of the control device 820, or an external keyboard, touchpad, or mouse.

[0118] Those skilled in the art will understand that Figure 12 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the control device 820 to which the solution of the present application is applied. The specific control device 820 may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0119] In one embodiment, a control device 820 is provided, such as Figure 11 As shown, the control device 820 includes a memory and a processor. The memory stores a computer program. When the processor executes the computer program, the steps of any method in the above method embodiments are implemented.

[0120] In one embodiment, a mirror-supporting robot system is provided, such as Figure 12 As shown, the mirror-holding robot system includes a sensor module 810 and the control device 820 in the above-mentioned control device 820 embodiment; the sensor module 810 is electrically connected to the control device 820 and is used to collect current motion data of a preset part of the user's body.

[0121] In this embodiment, the above-mentioned mirror-assisting robot system can realize the control parameters to instruct the medical mirror to move accurately and synchronously following the movements of the preset part of the user's body, so that the viewing angle of the medical mirror displayed on the display device can move accurately and synchronously following the movements of the preset part of the user's body; this avoids the need for the traditional mirror-assisting robot system to have a separate joystick or button for the surgeon to control the viewing angle of the medical mirror in addition to the surgeon during the operation, thereby improving the convenience of the mirror-assisting robot system and reducing the cost of surgery.

[0122] In one embodiment, Figure 12 As shown, the mirror-holding robot system also includes an external control device 860; wherein, the external control device 860 is electrically connected to the control device 820; the external control device 860 is used to drive the control device 820 to execute any one of the control methods for the medical mirror in the above-mentioned embodiments when responding to the start operation of the control method for the medical mirror; the external control device 860 is also used to stop driving the control device 820 to execute any one of the control methods for the medical mirror in the above-mentioned embodiments when responding to the stop operation of the control method for the medical mirror; the external control device 860 is also used to respond to the forced adjustment operation of the compensation coefficient and adjust the current compensation coefficient according to the above-mentioned forced adjustment operation.

[0123] In this embodiment, by adding an external control device 860 to the mirror-holding robot system, the execution of the control method of the medical mirror can be started and stopped in time according to user needs; at the same time, the current compensation system can be adjusted in real time according to the user's forced adjustment operation, thereby avoiding the accidental risks caused by erroneous compensation and improving the convenience of the mirror-holding robot system.

[0124] In one specific example, the external control device 860 may be, but is not limited to, a rotary button. The rotary button may be, but is not limited to, located external to the sensor module 810. When a user presses the rotary button, the rotary button responds to the start operation of the medical mirror control method and drives the control device 820 to execute any of the medical mirror control methods described in the above embodiments. When the user rotates the rotary button, the rotary button responds to the rotation operation of the rotary button, i.e., the forced adjustment operation of the compensation coefficient, and adjusts the current compensation coefficient in real time based on the rotation operation of the rotary button, i.e., the forced adjustment operation of the compensation coefficient. It is understood that the rotation operation causes the rotary button to rotate by an angle corresponding to the adjustment of the current compensation coefficient. Furthermore, when the user presses the rotary button again, the rotary button returns to its default initial position. At this point, the rotary button responds to the stop operation of the medical mirror control method and stops driving the control device 820 to execute any of the medical mirror control methods described in the above embodiments, thereby facilitating the physician to promptly stop the execution of the medical mirror control method when a break is needed during operation. The above is merely a specific example. In actual applications, the configuration can be flexibly adjusted based on user needs and is not intended to be limiting.

[0125] In one embodiment, the sensing module 810 is a MEMS sensor. In a specific example, the MEMS sensor is a mainstream three-axis acceleration sensor. Among them, the MEMS sensor can adopt an analog MEMS sensor. Since the analog MEMS sensor outputs an analog signal, it is necessary to perform analog-to-digital conversion on the analog signal through an analog-to-digital converter, and then output the output digital signal to the control device 820 for processing. The MEMS sensor can adopt a digital MEMS sensor, and the control device 820 can obtain the digital signal output by the digital MEMS sensor through SPI (Serial Peripheral Interface) or IIC (Inter-Integrated Circuit) communication. The above is only a specific example. In actual application, it can be flexibly set according to user needs and is not limited here.

[0126] In one embodiment, Figure 12 As shown, the mirror-supporting robot system also includes a display device 830; the display device 830 is electrically connected to the control device 820, and is used to display the image captured by the medical mirror 850 on the display area, thereby improving the convenience of the mirror-supporting robot system.

[0127] In one embodiment, Figure 12 As shown, the robotic system also includes a robotic arm 840. The robotic arm 840 is used to mount a medical mirror 850. The robotic arm 840 is electrically connected to a control device 820, receiving control parameters output by the control device 820 and operating according to the control parameters to cause the medical mirror 850 to rotate in accordance with the movements of a preset part of the user's body. This improves the convenience of the robotic system.

[0128] In one embodiment, the robotic system for assisting the mirror further includes a knob. Manually pressing the knob transmits a command to the control device 820, instructing the control device 820 to enter the auxiliary control mode for the medical mirror 850. Furthermore, the user can rotate the knob to transmit a manual compensation coefficient adjustment command to the control device 820, thereby manually adjusting the previously stored compensation coefficient. This improves the convenience of the robotic system for assisting the mirror.

[0129] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of any method in the above method embodiments are implemented.

[0130] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0131] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0132] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A method for controlling a medical mirror, characterized in that: Applicable to a mirror-supporting robot system; the mirror-supporting robot system includes the medical mirror and a control device, the control device is communicatively connected to the medical mirror; the control method includes: Obtain the current motion data of the preset part of the user's body and the last compensation coefficient; Compensation calculation is performed based on the current motion data and the previous compensation coefficient to obtain control parameters, including: Acquiring test motion data of a preset part of the user's body; wherein the motion trajectory corresponding to the test motion data includes moving from a reference position in the display area to an original position of the target object in the display area; Perform compensation calculation based on the test action data and the last compensation coefficient, and output test parameters; the test parameters are used to indicate that the target object moves within the display area; When confirming that the target object stops moving, obtaining a position of the target object in the display area after the target object stops moving; adjusting the previous compensation coefficient according to the deviation between the reference position and the position after the movement to obtain a current compensation coefficient; The current motion data is compensated and calculated based on the current compensation coefficient to obtain the control parameter; the control parameter is used to instruct the medical mirror to move following the movement of a preset part of the user's body.

2. The control method according to claim 1, characterized in that: Before performing compensation calculation based on the current motion data and the previous compensation coefficient to obtain the control parameter, the method further includes: Acquiring calibration motion data of a preset part of the user's body; the end point of the motion trajectory corresponding to the calibration motion data is the position of the calibration point in the display area; Processing the calibration action data to obtain position data of the calibration points; The current motion data is normalized according to the position data of the calibration point.

3. The control method according to claim 1, wherein: The current motion data of the preset part of the user's body includes motion data of the user's head.

4. The control method according to claim 3, characterized in that: The motion data of the user's head includes the motion acceleration of the user's head; the control parameter includes the desired movement angle of the medical mirror; The control method further includes: Converting and calculating the motion acceleration to obtain the motion angle of the user's head; The action angle is compensated and the expected movement angle is output.

5. The control method according to claim 4, characterized in that: The control parameter includes the moving speed of the medical mirror, and the control method further includes: Get the angular velocity of the user's head; The moving angular velocity is determined according to the action angular velocity.

6. A control device for a medical mirror, characterized in that: A control device used in a mirror-supporting robot system; the mirror-supporting robot system is used to install the medical mirror, and the control device is electrically connected to the medical mirror; the control device includes: a data acquisition module, configured to acquire current motion data of a preset part of the user's body and a previous compensation coefficient; the current motion data is collected by a sensor module located at a corresponding position of the preset part of the user's body; the compensation coefficient is the ratio of the expected movement angle of the medical mirror in a specified direction to the rotation angle of the preset part of the user's body in the specified direction; A compensation processing module, for performing compensation calculations based on the current action data and the last compensation coefficient to obtain control parameters, including: obtaining test action data of a preset part of the user's body; the action trajectory corresponding to the test action data includes moving from a reference position in the display area to the original position of the target object in the display area; performing compensation calculations based on the test action data and the last compensation coefficient, and outputting test parameters; the test parameters are used to indicate that the target object moves within the display area; when it is confirmed that the target object has stopped moving, obtaining the position of the target object after movement within the display area; adjusting the last compensation coefficient based on the deviation between the reference position and the position after movement to obtain a current compensation coefficient; performing compensation calculations on the current action data based on the current compensation coefficient to obtain the control parameters; the control parameters are used to indicate that the medical mirror moves to follow the action of the preset part of the user's body.

7. A control device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 5 are implemented.

8. A mirror-holding robot system, characterized in that: The mirror-holding robot system includes a sensor module and a control device as described in claim 7; the sensor module is electrically connected to the control device and is used to collect current motion data of a preset part of the user's body.

9. The mirror-supporting robot system according to claim 8, characterized in that: The sensing module is a MEMS sensor.

10. The mirror-supporting robot system according to claim 8, characterized in that: The mirror-supporting robot system also includes a display device; the display device is electrically connected to the control device and is used to display the image captured by the medical mirror on a display area.

11. The mirror-supporting robot system according to claim 8, characterized in that: The mirror-supporting robot system further includes a robotic arm; the robotic arm is used to install the medical mirror; The robotic arm is electrically connected to the control device, and is used to receive the control parameters output by the control device and perform actions according to the control parameters so that the medical mirror rotates following the movement of a preset part of the user's body.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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