User control method, surgical robot, and readable storage medium

Abstract

The application discloses a user control method, a surgical robot and a readable storage medium, wherein the user control method comprises the following steps: acquiring at least one biological feature information of a user, and generating identity authentication information of the user; and generating an identity authentication information-biological feature information association table based on the biological feature information and the identity authentication information. In the embodiment of the application, the identity authentication information-biological feature information association table is pre-acquired and generated by using the above ergonomic setting method, and is uploaded and executed on the machine, so that the user can perform double verification of the identity authentication information and the biological feature information when using the machine, thereby ensuring the accuracy and safety of the operation authorization of the machine, avoiding the operation of the machine by unauthorized personnel, facilitating management, and opening different permission levels according to the compliance of the double verification, so that the user can freely acquire different operation permissions, and other users can understand, familiarize with and strengthen the training effect of the machine.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a user control method, a surgical robot and a readable storage medium. BACKGROUND

[0002] Minimally invasive surgery refers to a surgical procedure performed inside the body cavity using a laparoscope, a thoracoscope and other modern medical devices and related equipment. Compared with the traditional surgical method, minimally invasive surgery has the advantages of small trauma, light pain and fast recovery. However, in minimally invasive surgery, the minimally invasive instruments are greatly difficult to operate due to the size of the incision, and the actions of the doctor in the long-time surgery process, such as fatigue and tremor, are magnified, which becomes a key factor restricting the development of minimally invasive surgery technology. With the development of robot technology, a new technology in the field of minimally invasive medical treatment that can overcome the shortcomings and inherit the advantages, i.e. minimally invasive surgery robot technology, emerges as the times require.

[0003] A common minimally invasive surgery robot is composed of a doctor console, a patient-side cart and a display device. A surgeon operates an input device at the doctor console and transmits the input to a patient-side cart connected with a remotely operated surgical instrument. Since the surgical robot is a public resource in a hospital, different doctors will use it. At present, the surgical robot manufacturer provides several accounts to the hospital, which are allocated or shared by the hospital to some doctors. The doctors can operate the surgical robot by logging in using the account. According to the requirements of the manufacturer and the industry, the doctors using the surgical robot need to be trained for dozens of hours and need to be qualified. The current method obviously has a loophole, i.e. doctors who know the account but are not qualified can also use the surgical robot. Therefore, how to control only the qualified doctors to use the surgical robot to ensure that no harm to the machine (harm to the relevant personnel and damage to the surgical robot) is an important and unresearched topic.

[0004] On the one hand, the surgical robot needs to train doctors before delivery so that the doctors can master the skills of operating the surgical robot. This training can last for dozens of hours. In theory, only those who have mastered the corresponding skills can operate the surgical robot, but in fact, the login account of the surgical robot provided by the manufacturer to the hospital is a general account and is not bound to the personal information of the doctor. The actual operator of the surgical robot is freely controlled by the hospital, which often brings great risks to the machine, such as harm to the relevant personnel and damage to the machine.

[0005] On the other hand, the surgical robot is networked. Its start-up needs to request permission from the manufacturer of the product, and during the surgery, the surgery data will be transmitted back to the manufacturer.

[0006] A doctor console, a surgical robot system and a control method of the doctor console are disclosed in Chinese invention patent application CN112022357B. The operator identity information and the corresponding man-machine parameters are obtained through an observation component, so as to control the adjustment component to move to adjust the ergonomic setting. The control unit includes an authorized user judgment module for judging whether the operator identity is an authorized user or an illegal user before adjusting the ergonomic setting. If it is an illegal user, the doctor console is locked. Specifically, the observation component is provided with a first identity information identification component for recording the operator identity information, such as a two-dimensional code, a chip, etc. For example, the chip has the functions of information recording and reading. The operator identity information is, for example, the worker number, name, etc. of the doctor, that is, the legality of the operator is judged by the worker number, name, etc. similar to the username.

[0007] However, in the above patent scheme, the user legality is only verified by the username and / or password login and the like, which is difficult to solve the problem of shared username and / or password, may cause man-machine damage, especially the damage of the surgical robot, has a high occurrence probability, high maintenance cost and long time consumption, and may cause serious adverse effects on the surgery itself. SUMMARY

[0008] In view of the deficiencies of the prior art, the present application provides a user control method with authorized precision and convenient management, a surgical robot and a readable storage medium.

[0009] To achieve the above purpose, the present application is realized by the following technical scheme.

[0010] The present application provides a user control method, comprising:

[0011] Obtaining at least one biological feature information of a user and generating identity verification information of the user;

[0012] Generating an identity verification information-biological feature information association table based on the biological feature information and the identity verification information;

[0013] Uploading the identity verification information-biological feature information association table to a corresponding execution machine.

[0014] Further limitation, the user control method, wherein before uploading the identity verification information-biological feature information association table to the corresponding execution machine, the user is further authorized to verify the qualification.

[0015] Further limitation, the user control method, wherein the biological feature information includes iris, face, fingerprint and voiceprint information.

[0016] Further limitation, the user control method, wherein the identity verification information includes account and password information.

[0017] The application also provides a user control method, comprising:

[0018] acquiring and verifying the user's authentication information and / or biometric information;

[0019] granting the user corresponding operation permissions based on the verification result of the user's authentication information and / or biometric information.

[0020] Further limitation, the user control method, wherein, before acquiring and verifying the user's authentication information and / or biometric information, further comprising:

[0021] acquiring an authentication information-biometric information association table.

[0022] Further limitation, the user control method, wherein, before acquiring and verifying the user's authentication information and / or biometric information, further comprising:

[0023] providing a login interface, and acquiring the user's authentication information on the login interface;

[0024] providing a biometric data acquisition port, and acquiring the user's biometric information on the biometric data acquisition port.

[0025] Further limitation, the user control method, wherein, acquiring and verifying the user's authentication information and / or biometric information specifically comprises:

[0026] acquiring the user's authentication information and comparing the authentication information-biometric information association table to generate a first verification result;

[0027] acquiring the biometric information based on the first verification result;

[0028] generating a second verification result based on the authentication information, the authentication information-biometric information association table and the biometric information.

[0029] Further limitation, the user control method, wherein, granting the user corresponding operation permissions based on the verification result of the user's authentication information and / or biometric information comprises:

[0030] when the user's authentication information and biometric information are both verified, granting the user first permissions;

[0031] when the user's authentication information is verified and the biometric information is not verified, executing a locking instruction or granting the user second permissions.

[0032] Further limited, the user control method described above, wherein the first permission can operate the instruction end of the execution machine and couple its execution end, and the second permission can only operate the instruction end of the execution machine.

[0033] The application also provides a surgical robot adopting the user control method described in any of the above, comprising a master hand, a slave hand, a human-computer interaction interface and a recognition unit for biological feature data acquisition are arranged on the master hand.

[0034] The recognition unit comprises one or more of an iris recognition module, a voiceprint recognition module, a fingerprint recognition module and a face recognition module.

[0035] The application also provides a computer readable storage medium storing a computer program, wherein the computer program is executed by a processor to implement the steps of the user control method described in any of the above.

[0036] The application has at least the following beneficial effects:

[0037] 1. By pre-acquiring the identity authentication information and the biological feature information of the user, generating an identity authentication information-biological feature information association table and uploading the execution machine, the user needs to perform double verification of the identity authentication information and the biological feature information when using the execution machine, thereby ensuring the accuracy and safety of the operation authorization of the execution machine, avoiding the operation of the execution machine by unauthorized personnel, and facilitating the management of the execution machine.

[0038] 2. The biological feature information itself has a high trust level, which can avoid the problem of account impersonation in the single identity authentication information verification login mode, improve the encryption level of the execution machine, and ensure the management reliability of the execution machine.

[0039] 3. The human-computer interaction interface of the execution machine only has a user login interface and no interface for registering new users, and is only used by authorized users. If the double verification is passed, it is judged as a legal user, and the first permission of the execution machine is opened. If it is not completely passed, it is judged as an illegal user, and the execution machine is locked or the second permission is opened.

[0040] 4. By setting the permission levels of the first permission and the second permission, the user can obtain different operation permissions when using different login modes, which facilitates other authorized users to understand, familiarize with the execution machine and enhance the training effect. BRIEF DESCRIPTION OF DRAWINGS

[0041] Figure 1 The flowchart of the ergonomic setting method of the embodiment of the application;

[0042] Figure 2Flow chart of the user control method of the embodiment of the present application;

[0043] Figure 3 Structure schematic diagram of the surgical robot of the embodiment of the present application;

[0044] Figure 4 Structure schematic diagram of the surgical robot of the embodiment of the present application;

[0045] Figure 5 Schematic diagram of the “ergonomic parameters” of the surgical robot of the embodiment of the present application;

[0046] Figure 6 Schematic diagram of the “body parameters” of the embodiment of the present application.

[0047] Reference signs

[0048] Base-100, pedal-200, stand-300, display-400, armrest-500, iris recognition module-610, voiceprint recognition module-620, human-computer interaction interface-630, fingerprint recognition module-640, height parameter-H, arm length parameter-A, leg length parameter-L, display height parameter-VH, armrest height parameter-AH, pedal distance parameter-FD, inclination angle parameter-VT. DETAILED DESCRIPTION

[0049] The technical solutions in the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art belong to the scope of protection of the present application.

[0050] The terms “first”, “second”, and the like in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by “first”, “second”, etc. are generally a category and do not limit the number of objects, for example, the first object can be one or more. In addition, “and / or” in the specification and claims indicates at least one of the connected objects, and the character “ / ” generally indicates that the front and rear associated objects are in an “or” relationship.

[0051] The user control method, surgical robot and readable storage medium provided by the embodiments of the present application will be described in detail below with reference to the drawings and specific embodiments and their application scenarios.

[0052] As Figures 3 to 4As shown, the embodiment of the present application provides a minimally invasive surgery robot, which comprises a master hand and a slave hand, the master hand comprises a base 100, a pedal 200, a stand 300, a handrail 500, a display 400 and a clamping operation mechanism, wherein the pedal 200 is arranged on the base 100 and can adjust the distance from the display 400, the stand 300 is arranged on the base 100, the handrail 500 is arranged on the stand 300 and can adjust the height up and down relative to the base 100, and the display 400 is arranged on the stand 300 and can adjust the height up and down relative to the base 100 and can rotate to adjust the angle between the axial direction of the stand 300. Generally, the existing surgical robot is provided with a combination of manually adjustable buttons on the handrail 500, which can manually adjust the aforementioned distance, height and angle. Specifically, a motor is arranged at the corresponding position of the surgical robot, and the corresponding motor can be instructed by operating the related button, so as to adjust the corresponding distance or height or angle.

[0053] As shown in the figure, Figure 1 The embodiment of the present application also provides an ergonomic setting method, as shown in the figure, Figure 5 The distance of the pedal 200 relative to the display 400 is recorded as the pedal distance parameter FD, the height of the handrail 500 relative to the base 100 is recorded as the handrail height parameter AH, and the height of the display 400 relative to the base 100 is recorded as the display height parameter VH, and the inclination angle is recorded as the inclination angle parameter VT.

[0054] As shown in the figure, Figure 6 The height of the doctor is recorded as the height parameter H, the arm length is recorded as the arm length parameter A, and the leg length is recorded as the leg length parameter L. It can be understood that there is a correlation between the above three parameters of the doctor, and similarly, in the process of using the minimally invasive surgery robot by the doctor, the height parameter H is associated with the display height parameter VH, and the arm length parameter A is associated with the handrail height parameter AH.

[0055] It can be understood that the doctor usually sits on a seat with adjustable height to operate the master hand, so as to match the height difference between the doctor's sitting posture and the pedal 200, so the pedal distance parameter FD is also associated with the height of the doctor's seat, the leg length parameter L, and the inclination angle parameter VT is associated with the doctor's head angle habit. The head angle can be regarded as the included angle between the straight line of sight and the horizontal plane, which is a non-fixed value, generally between 30° and 60°, or other angles, and the initial recommended angle is 45°.

[0056] The ergonomic setting method described in the embodiment specifically comprises:

[0057] S1, the manufacturer obtains the complete body parameters of the doctor, and generates complete ergonomic parameters based on the complete body parameters and the target & machine mapping relationship;

[0058] S2, generating the authorized information of the doctor, generating the authorized information-machine parameter correlation table based on the complete ergonomic parameters and the authorized information, and uploading the authorized information-machine parameter correlation table to the designated surgical robot;

[0059] S3, the doctor inputs the authorized information on the surgical robot, and the surgical robot retrieves the corresponding ergonomic parameters based on the authorized information-machine parameter correlation table and automatically completes the ergonomic setting.

[0060] It can be understood that in step S1, the target & machine mapping relationship is obtained by investigation and testing. It can be explained that the display height parameter VH is proportional to the height parameter H, the armrest height parameter AH is proportional to the arm length parameter A, and the pedal distance parameter FD is proportional to the leg length parameter L. The initial value of the tilt angle parameter VT is set to 45°. In step S3, the retrieved ergonomic parameters include the display height parameter VH, the armrest height parameter AH, the pedal distance parameter FD, and the tilt angle parameter VT. The display height parameter VH is used to automatically adjust the height of the display 400 relative to the base 100, the armrest height parameter AH is used to automatically adjust the height of the armrest 500 relative to the base 100, the pedal distance parameter FD is used to automatically adjust the distance of the pedal 200 relative to the display 400, and the tilt angle parameter VT is used to automatically adjust the pitch angle of the display 400. The above adjustments complete the ergonomic setting.

[0061] In the embodiment of the present application, the above-mentioned ergonomic setting method is adopted. The body parameters of the doctor are obtained in advance, and the complete ergonomic parameters are generated based on the body parameters and the target & machine mapping relationship, and then the authorized information is directly bound and uploaded to the surgical robot. When the doctor uses the surgical robot, the doctor only needs to input the authorized information to realize the automatic ergonomic setting of the surgical robot. This not only reduces the operation difficulty of the doctor, but also realizes the matching of the doctor and the personalized ergonomic setting, optimizes the doctor's use experience, and improves the ergonomic parameter debugging speed.

[0062] In a preferred embodiment, in step S1, since the doctor may not know the complete body parameters, when the doctor only provides part of the body parameters, the target & target mapping relationship needs to be referenced, that is, the mapping relationship between the arm length parameter A, the height parameter H, and the leg length parameter L of the doctor himself is introduced, so that the other two body parameters are obtained according to one body parameter (usually the height parameter H) provided by the doctor, and then the complete ergonomic parameters of the master console are obtained. In this embodiment, the target & target mapping relationship uses the experience value, that is, the height parameter H = 2 leg length parameter L = 2.6 arm length parameter A (without rounding off).

[0063] It can be understood that the target & target mapping relationship itself has inaccuracy, and thus needs to be continuously optimized through a large number of samples in the referencing process. For example, when the doctor provides two or more than two body parameters, the relationship between the provided multiple body parameters is calculated, and when the difference between the relationship and the corresponding target & target mapping relationship is outside a set standard threshold range, the relationship is taken as a correction value and is averaged with the original value, and then the average value is replaced with the original value in the target & target mapping relationship, thereby forming a corrected target & target mapping relationship.

[0064] Of course, in order to prevent the body parameters of special individuals from affecting the accuracy of the system, the difference between the correction value and the original value needs to be compared before replacement or averaging. If the difference is within a certain standard threshold range, it is considered to be a universal adjustment, and replacement can be performed. If the threshold is exceeded, replacement will not be performed.

[0065] In the embodiments of the present application, the ergonomics setting method is used, and the doctor's body parameters are derived and supplemented through the target & target mapping relationship, so that the setting of the ergonomics parameters is more perfect, and the generation efficiency of the ergonomics parameters is accelerated.

[0066] It can be understood that the above-mentioned target & target mapping relationship is only applicable in the case where the measurement condition is not available. If the manufacturer has the measurement condition, the doctor is preferentially measured on site to determine the complete body parameters, thereby ensuring the accuracy of the body parameters.

[0067] In a preferred embodiment, in step S1, the manufacturer can obtain the complete body parameters of the doctor during the training of the doctor or actively collect them from the hospital. The timing of obtaining the body parameters can be before the training is completed, or only the body parameters of the doctors who have passed the training can be measured at the end of the training.

[0068] In a preferred embodiment, in step S2, the authorization information of the doctor includes identity verification information, the identity verification information includes a username and an initial password associated with the name and department of the doctor, and the username and the initial password are provided to the corresponding doctor. The authorization information-machine parameter association table includes an identity verification information-machine parameter association table, and the identity verification information of the doctor in the identity verification information-machine parameter association table matches the ergonomics parameters thereof.

[0069] It can be understood that the manufacturer can only generate authorization information for doctors who have passed the training, thereby reducing the risk of authority in subsequent operations. Specifically, the manufacturer records the names and departments of the doctors who have passed the training, sets a username and an initial password associated with the name and department, for example, Wang Qiang-Gynecology, initial password wq-fk, and the manufacturer will inform the corresponding doctor of the username and the initial password.

[0070] In a preferred embodiment, in step S2, the authorization information-machine parameter association table is uploaded to the corresponding model of the surgical robot system through the network. It can be understood that the authorization information-machine parameter association table can also be implanted in the surgical robot system by using a storage device, for example, the authorization information-machine parameter association table is stored in a hard disk, the hard disk is connected to the surgical robot, and the authorization information-machine parameter association table recorded therein is directly downloaded.

[0071] It can be understood that each surgical robot has a unique identification code, so that the doctors of different hospitals can be corresponded with the surgical robots of the hospital, and the updating error does not occur.

[0072] Similarly, if the doctor modifies the identity verification information, such as modifying the password, the surgical robot modifies the local network upload factory, so as to facilitate the factory to monitor the account. If the surgical robot has no network condition, the local data of the surgical robot needs to be obtained by the factory at regular intervals to update the original database.

[0073] In the embodiment of the application, by using the above ergonomic setting method, through implantation of the identity verification information-machine parameter association table in the surgical robot system, the doctor can directly retrieve the ergonomic parameters through verification of the personal identity verification information when using the surgical robot for the first time, which greatly simplifies the use process of the doctor and saves the preparation time of the surgery.

[0074] In a preferred embodiment, in step S3, as shown in Figure 4 The human-computer interaction interface 630 is provided on the surgical robot, the human-computer interaction interface 630 only has a user login interface and does not have a new user registration interface. When the qualified doctor intends to use, the identity verification information is only needed to be logged in, the system searches the corresponding ergonomic parameters according to the built-in identity verification information-machine parameter association table, and automatically drives the related components to complete the setting.

[0075] In the embodiment of the application, by using the above ergonomic setting method, since the surgical robot itself has no registration interface, the use authorization of the surgical robot is completely operated by the factory, so as to avoid the use of the surgical robot by unauthorized personnel and reduce the operation risk of the surgical robot.

[0076] In a preferred embodiment, after steps S2 and S3, the optimization process of the target-machine mapping relationship is further included. When a user manually adjusts the ergonomic parameters of the master console before or during use (after the ergonomic parameters are automatically set), the system records the adjusted parameters, and uploads the modified ergonomic parameters to the factory through the network, or records the modified ergonomic parameters in the local for investigation and sampling by the factory.

[0077] The manufacturer averages the corrected ergonomic parameters as a correction value and the original value, and replaces the average value in the target & machine mapping relationship with the original value, thereby forming a corrected target & machine mapping relationship.

[0078] It can be understood that in addition to averaging, those skilled in the art can also think of other ways to obtain a new value, such as weighted average, original value weighted 80%, correction value weighted 20%, and so on, and repeatedly, thereby completing the target & machine mapping relationship optimization process (generally after the system obtains enough user samples).

[0079] Of course, in order to prevent the body parameters of special individuals from affecting the accuracy of the system, the difference between the correction value and the original value is compared before replacement or averaging. If the difference is within a certain standard threshold range, it is considered to be a universal adjustment and can be replaced. If it exceeds the standard threshold range, it will not be replaced.

[0080] It should also be noted that if the user only provides the height parameter H at the initial use, only the display height parameter VH related to the height parameter H in the correction value formed after manual adjustment will be replaced, and the same applies to the initial provision of other parameters. Through this setting method, when the user manually adjusts the ergonomic parameters, the non-initial manually provided body parameters corresponding to the ergonomic parameters may be a judgment error of the target & machine mapping relationship, or a target & target mapping relationship error, thereby causing the error source to be unable to be judged, and further causing the correction to be inaccurate. Of course, if enough samples are obtained and a reliable target & machine mapping relationship or target & target mapping relationship is established, the error source can be judged based on the reliable mapping relationship, thereby further correcting the mapping relationship.

[0081] In the embodiments of the present application, the ergonomic setting method described above is used to optimize the target & machine mapping relationship corresponding to the initial body parameters within the standard threshold range when the user manually adjusts after completing the ergonomic setting, greatly improving the accuracy of body parameter inference and ergonomic parameter matching.

[0082] In a preferred embodiment, in step S2, the authorization information further includes biometric information, and the authorization information-machine parameter association table further includes an identity verification information-biometric information association table generated based on the biometric information and the identity verification information.

[0083] In step S1, at least one biometric feature of the doctor, such as iris, face, fingerprint, voiceprint, etc., is also obtained, and the manufacturer generates digital biometric information based on the obtained biometric feature; it can be understood that the manufacturer can only collect biometric features of qualified doctors, such as collecting fingerprints, to reduce the workload.

[0084] In step S3, the doctor also needs to verify the biometric information when inputting the identity authentication information on the surgical robot. If the user biometric information matches the identity authentication information-biometric information association table, the surgical robot retrieves the corresponding ergonomic parameters based on the identity authentication information-machine parameter association table and automatically completes the ergonomic setting.

[0085] As shown in Figure 3 The display 400 of the surgical robot is provided with an iris recognition module 610 and a voiceprint recognition module 620. The iris recognition module 610 is used to verify the iris biometric information of the user, and the voiceprint recognition module 620 is used to verify the voiceprint biometric information of the user.

[0086] As shown in Figure 4 The armrest 500 of the surgical robot is provided with a fingerprint recognition module 640, which is used to verify the fingerprint biometric information of the user.

[0087] In the embodiment of the present application, the ergonomic setting method described above can avoid the risk of user borrowing an account for login through verification of biometric information.

[0088] It can be understood that a priority can be set between the identity authentication information and the biometric information, that is, when the priority of the biometric information is higher than that of the identity authentication information, the user only needs to verify the biometric information to automatically retrieve the identity authentication information-machine parameter association table and automatically complete the ergonomic setting.

[0089] Similarly, step S2 can be directly set to generate a biometric information-machine parameter association table based on complete ergonomic parameters and biometric information, upload it to a designated surgical robot, and set S3 to verify the biometric information of the doctor on the surgical robot. The surgical robot retrieves the corresponding ergonomic parameters based on the biometric information-machine parameter association table and automatically completes the ergonomic setting.

[0090] In the embodiment of the present application, the ergonomic setting method described above directly retrieves the corresponding ergonomic parameters through biometric information and automatically completes the ergonomic setting, which eliminates the input verification process of the doctor for the identity authentication information, further shortens the ergonomic setting time of the surgical robot, and improves the use experience of the doctor and the safety of the equipment.

[0091] As shown in Figure 2 The embodiment of the present application also provides a user control method, which specifically includes:

[0092] S1, the manufacturer obtains at least one biometric information of the doctor and generates identity authentication information of the doctor;

[0093] S2, generate identity authentication information-biometric information association table and upload it to the designated surgical robot;

[0094] S3, the doctor inputs the identity authentication information on the surgical robot, the surgical robot retrieves the corresponding biometric information based on the identity authentication information-biometric information and performs secondary verification, and controls the operation permission of the surgical robot based on the verification result.

[0095] In the embodiment of the application, the above-mentioned user control method is adopted, the identity authentication information and biometric information of the doctor are acquired in advance, the identity authentication information-biometric information association table is generated and uploaded to the surgical robot, so that when the doctor uses the surgical robot, the doctor needs to perform double verification of the identity authentication information and the biometric information, thereby ensuring the accuracy of the operation authorization of the surgical robot, avoiding the operation of the surgical robot by unauthorized personnel, and facilitating the management of the surgical robot.

[0096] In a preferred embodiment, in step S1, the biometric information includes iris, face, fingerprint, voiceprint, etc., and the manufacturer acquires at least one biometric information of the doctor before the doctor training, or only measures the biometric information of the doctor who has passed the training at the end of the training, that is, the authorized qualification verification is performed on the doctor before the identity authentication information-biometric information association table is generated and uploaded, and only the doctor who passes the authorized qualification verification will be collected biometric information. The identity authentication information of the doctor includes the username and initial password associated with the name and department of the doctor, and the username and initial password are provided to the corresponding doctor. Similarly, the identity authentication information can be generated before the doctor training, or only the identity authentication information of the doctor who passes the authorized qualification verification can be generated, thereby saving the program and ensuring the accuracy and reliability of the permission granting.

[0097] In a preferred embodiment, in step S2, the identity authentication information of the doctor in the identity authentication information-biometric information association table matches the biometric information thereof.

[0098] It can be understood that the manufacturer can only generate the identity authentication information of the doctor who has passed the training, thereby reducing the risk of permission in subsequent operations.

[0099] In a preferred embodiment, in step S2, the identity authentication information-biometric information association table is uploaded to the corresponding type of surgical robot system through the network. It can be understood that the identity authentication information-biometric information association table can also be implanted in the surgical robot system by using a storage device, for example, the identity authentication information-biometric information association table is stored in a hard disk, the hard disk is connected to the surgical robot, and the identity authentication information-biometric information association table recorded therein is directly downloaded.

[0100] Likewise, if the doctor modifies the identity authentication information, such as modifying the username or password, the surgical robot modifies the manufacturer on the local network afterwards, so as to facilitate the manufacturer to monitor the account. If the surgical robot has no network condition, the manufacturer needs to obtain the local data of the surgical robot regularly to update the original database.

[0101] It can be understood that the biometric information of the doctor cannot be modified at the surgical robot end, so as to avoid that the account logged in by the surgical robot does not match the actual operator, thereby avoiding the management confusion problem caused by the mismatch between the identity authentication information and the biometric information.

[0102] In a preferred embodiment, in step S3, the human-computer interaction interface 630 of the surgical robot only has a user login interface, without a new user registration interface. When the qualified doctor intends to use, only the identity authentication information needs to be logged in to verify the identity authentication information. The system generates a first verification result based on the identity authentication information-biometric information association table. It can be understood that the identity authentication information-biometric information association table records the identity authentication information user library and the corresponding biometric information user library. Only when the identity authentication information input by the user is in the identity authentication information user library, the subsequent comparison of the biometric information will be performed.

[0103] When the first verification result passes, the system retrieves the corresponding biometric information of the obtained identity authentication information according to the built-in identity authentication information-biometric information association table, and compares it with the obtained biometric information to generate a second verification result. If it is consistent, it is judged as a legal user, and the first permission of the surgical robot is opened. If it is not consistent, it is judged as an illegal user and is prompted, and the surgical robot is locked and not allowed to operate.

[0104] It can be understood that the first permission belongs to the senior permission, and the surgical robot can be normally operated, that is, the control of the master console movement and the operation arm movement can be carried out.

[0105] In a preferred embodiment, in the actual use process of the surgical robot, in order to facilitate other doctors of the hospital to understand and familiarize with the surgical robot, or to enhance the training effect during training, simulation or practical training needs to be carried out with the help of the surgical robot.

[0106] In step S3, after the user logs in and verifies the identity authentication information, the surgical robot system retrieves the corresponding biometric information according to the built-in identity authentication information-biometric information association table, and compares it with the user. If it is consistent, it is judged as a legal user, and the first permission of the surgical robot is opened. If it is not consistent, it is judged as an illegal user, the second permission of the surgical robot is opened, and a prompt is given.

[0107] It can be understood that the second permission belongs to a low-level permission, at this time the main console can be normally operated, but the operating arm will not move, that is, the two are disconnected, and by using the above method, other doctors can be facilitated to understand, familiarize with the surgical robot and enhance the training effect.

[0108] In a preferred embodiment, only the at least one biometric information of the doctor is acquired in step S1 and the surgical robot is uploaded to the network, and the user directly acquires the operation permission of the surgical robot by verifying the biometric information, but this method has a lower fault tolerance rate and is easy to cause unstable login of the surgical robot, and secondly, this method cannot grant priority to the permission, that is, it cannot open part of the permission of the surgical robot, which is not conducive to other doctors to understand and familiarize with the surgical robot.

[0109] The embodiment of the present application provides a computer readable storage medium, the computer readable storage medium stores a computer program, and the computer program is executed by a processor to realize the steps of the above ergonomic setting method and / or user control method.

[0110] It should be noted that in this document, the terms "comprising", "including", or any other variant thereof are intended to cover non-exclusive inclusions, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent to such a process, method, article or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of another identical element in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, but can also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method can be performed in an order different from that described, and various steps can also be added, omitted or combined. In addition, the features described with reference to certain examples can be combined in other examples.

[0111] The embodiments of the present application are described above in combination with the drawings, but the present application is not limited to the above specific embodiments, the above specific embodiments are only illustrative and not restrictive, and those skilled in the art can make many forms under the inspiration of the present application without departing from the scope of the present application and the scope protected by the claims.

Claims

1. A user control method characterized by, The method comprises: obtaining at least one biological feature information of a user and generating identity authentication information of the user; generating an identity authentication information-biological feature information association table based on the biological feature information and the identity authentication information; uploading the identity authentication information-biological feature information association table to a corresponding execution machine; obtaining complete body parameters of a doctor, generating complete ergonomics parameters based on the complete body parameters and a target-machine mapping relationship; generating authorization information of the doctor, generating an authorization information-machine parameter association table based on the complete ergonomics parameters and the authorization information, and uploading the table to a designated surgical robot.

2. The user control method according to claim 1, wherein Before uploading the identity authentication information-biological feature information association table to the corresponding execution machine, the method further comprises verifying authorization qualification of the user.

3. The user control method of claim 1, wherein The biological feature information comprises iris, face, fingerprint, and voiceprint information.

4. The user control method according to claim 1 or 3, wherein The identity authentication information comprises account and password information.

5. A user control method characterized by, The method comprises: obtaining and verifying identity authentication information and biological feature information of a user; granting corresponding operation permissions to the user based on verification results of the identity authentication information and the biological feature information of the user; a doctor inputs authorization information on a surgical robot, the surgical robot retrieves corresponding ergonomics parameters based on an authorization information-machine parameter association table and automatically completes ergonomics setting; the authorization information comprises identity authentication information, and the authorization information-machine parameter association table comprises an identity authentication information-machine parameter association table.

6. The user control method according to claim 5, wherein Before obtaining and verifying the identity authentication information and the biological feature information of the user, the method further comprises: obtaining an identity authentication information-biological feature information association table.

7. The user control method according to claim 5, wherein Before obtaining and verifying the identity authentication information and the biological feature information of the user, the method further comprises: providing a login interface and obtaining the identity authentication information of the user on the login interface; providing a biological feature data acquisition port and obtaining the biological feature information of the user on the biological feature data acquisition port.

8. The user control method according to any one of claims 5 to 7, characterized by, The obtaining and verifying of the identity authentication information and the biological feature information of the user specifically comprises: obtaining the identity authentication information of the user and comparing the identity authentication information with the identity authentication information-biological feature information association table to generate a first verification result; obtaining the biological feature information based on the first verification result; generating a second verification result by comparing the biological feature information based on the identity authentication information and the identity authentication information-biological feature information association table.

9. The user control method according to claim 5, wherein The granting of corresponding operation permissions to the user based on the verification results of the identity authentication information and the biological feature information of the user comprises: when the identity authentication information and the biological feature information of the user are both verified, granting the user a first permission; when the identity authentication information of the user is verified and the biological feature information is not verified, executing a locking instruction or granting the user a second permission.

10. The user control method according to claim 9, wherein The first permission can operate an instruction end of an execution machine and couple an execution end thereof, and the second permission can only operate the instruction end of the execution machine.

11. A surgical robot, characterized by The user control method according to any one of claims 1 to 10 comprises a master hand and a slave hand, the master hand is provided with a human-computer interaction interface and a recognition unit for biological feature data acquisition; The identification unit comprises one or more of an iris identification module, a voiceprint identification module, a fingerprint identification module, and a face identification module.

12. A computer-readable storage medium, the computer-readable storage medium storing a computer program, characterized in that, The computer program, when executed by a processor, implements the steps of the user control method of any one of claims 1 to 10.

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