Ergonomic design methods, surgical robots, and readable storage media

Abstract

This application discloses an ergonomic setting method, a surgical robot, and a readable storage medium. The ergonomic setting method includes obtaining complete target parameters from a user, generating complete ergonomic parameters based on the complete target parameters, generating the user's authorization information, and generating an authorization information-machine parameter association table based on the complete ergonomic parameters and the authorization information. In this embodiment, the above-mentioned ergonomic setting method is used. By pre-obtaining the doctor's body target parameters and generating complete ergonomic parameters based on the body target parameters, the authorization information is directly bound and uploaded to the surgical robot. This allows the doctor to automatically set the ergonomics of the surgical robot simply by inputting the authorization information, reducing the doctor's operational difficulty, achieving matching between the doctor and personalized ergonomic settings, optimizing the doctor's user experience, increasing the speed of ergonomic parameter setting, and reducing surgical preparation time.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to ergonomic design methods, surgical robots, and readable storage media. Background Technology

[0002] Minimally invasive surgery refers to surgical procedures performed inside the human body using modern medical instruments and equipment such as laparoscopes and thoracoscopes. Compared to traditional surgical methods, minimally invasive surgery has advantages such as less trauma, less pain, and faster recovery. However, the limitations imposed by the incision size on minimally invasive instruments significantly increase the difficulty of the procedure, and the fatigue and tremors experienced by the surgeon during prolonged operations are amplified. These factors have become key constraints on the development of minimally invasive surgical techniques. With the development of robotics technology, a new technology in the field of minimally invasive medicine—minimally invasive surgical robot technology—has emerged, overcoming these shortcomings while inheriting the advantages.

[0003] A typical minimally invasive surgical robot consists of a surgeon's console, a patient-side trolley, and a display device. The surgeon operates the input device from the surgeon's console and transmits the input to the patient-side trolley, which is connected to remotely operated surgical instruments. The surgeon's console, also known as the master arm, typically has two robotic arms located on the left and right sides to meet the motion freedom requirements of the input device. Since surgical robots are a shared resource in hospitals and are used by different surgeons with varying heights, leg lengths, and other anthropometric parameters, the ergonomic parameters of the surgeon's console need to be adjusted.

[0004] On the one hand, before using surgical robots, manufacturers and hospitals need to train doctors so that they can master the skills to operate them. This training can take dozens of hours. Theoretically, only those who have mastered the corresponding skills can operate surgical robots. However, in reality, the surgical robot login accounts provided by manufacturers to hospitals are general accounts and are not linked to doctors' personal information. The actual operators of the surgical robots are freely controlled by the hospitals, which often brings significant human-machine risks, such as injury to relevant personnel or damage to the machine. Furthermore, due to individual differences, each person needs to manually set the ergonomic parameters of the main control panel before use.

[0005] On the other hand, the imported da Vinci surgical robot is networked, and it requires permission from the product manufacturer to turn it on. During the surgery, it sends the surgical data back to the manufacturer, wasting a lot of time. In addition, the time required to set the ergonomic parameters can delay the surgery itself.

[0006] Chinese invention patent application CN107320190A discloses a doctor's control console for a surgical robot. By connecting the operating platform to a lifting column, the height of the operating platform can be adjusted. By adjusting the height of the operating platform, different doctors' operating habits can be met, making doctors more flexible and free in performing surgery, improving the practicality of the equipment, and effectively improving the accuracy and comfort of doctors' operations.

[0007] However, the aforementioned patented solutions can only make adaptive adjustments based on the doctor's height. Since the height of the doctor's console armrests, the height and angle of the monitor, and other ergonomic settings are all manually adjustable, the adjustment parameters of the above solutions are not perfect. Traditional manual adjustment also has the problem of being time-consuming. Furthermore, due to a lack of knowledge and skills, some doctors may not actually be able to adjust to the most suitable ergonomic settings for themselves. Especially when making ergonomic settings for the first time, the lack of experience and unfamiliarity with the operation methods greatly affect the efficiency of adjusting ergonomic parameters. Summary of the Invention

[0008] To address the shortcomings of existing technologies, this invention provides an ergonomic setup method, surgical robot, and readable storage medium that are highly intelligent, fast to set up, and comfortable.

[0009] To achieve the above objectives, the present invention is implemented through the following technical solutions.

[0010] This application provides an ergonomic setting method, including:

[0011] Obtain the user's complete target parameters, and generate complete ergonomic parameters based on the complete target parameters;

[0012] Generate the user's authorization information, and generate an authorization information-machine parameter association table based on the complete ergonomic parameters and the authorization information;

[0013] Upload the authorization information – machine parameter association table – to the corresponding execution machine.

[0014] Further defining the above-mentioned ergonomic setting method, the specific steps of generating complete ergonomic parameters based on the complete target parameters are as follows:

[0015] The complete target parameters are used to introduce a target & machine mapping relationship to generate the complete ergonomic parameters.

[0016] To further define the above-mentioned ergonomic design method, the authorization information includes identity verification information and / or biometric information.

[0017] Further specifying, the above-mentioned ergonomic setting method, after uploading the authorization information-machine parameter association table to the corresponding execution machine, also includes:

[0018] Obtain the modified ergonomic parameters to correct the target & machine mapping relationship.

[0019] To further define the above-mentioned ergonomic design method, the specific modification of the target-machine mapping relationship is as follows:

[0020] A new target & machine mapping relationship is formed by averaging or weighting the modified ergonomic parameters and their mapping relationship with the target parameters and the target & machine mapping relationship.

[0021] To further define the above-mentioned ergonomic design method, the correction of the target-machine mapping relationship also includes:

[0022] The difference between the modified ergonomic parameters and their mapping relationship with the target parameters and the target & machine mapping relationship is compared to a standard threshold range. If the difference is within the standard threshold range, the target & machine mapping relationship is corrected; otherwise, the correction is ignored.

[0023] This application also provides an ergonomic setting method, including:

[0024] Provide a login interface and / or biometric port;

[0025] Obtain user authorization information through the login interface and / or biometric port;

[0026] Ergonomic settings are automatically completed based on the user authorization information;

[0027] The login interface is used to obtain authentication information, and the biometric port is used to obtain biometric information.

[0028] Further specifying, the aforementioned ergonomic design method, prior to providing a login interface and / or biometric port, also includes:

[0029] Obtain authorization information - machine parameter association table.

[0030] To further define the above-mentioned ergonomic setting method, the automatic completion of ergonomic settings based on the user authorization information specifically includes:

[0031] Retrieve complete ergonomic parameters based on the user authorization information and the authorization information-machine parameter association table;

[0032] Ergonomic settings are automatically completed based on complete ergonomic parameters.

[0033] Further defining the above-mentioned ergonomic setting method, the specific steps of retrieving complete ergonomic parameters based on the user authorization information and the authorization information-machine parameter association table are as follows:

[0034] The user authorization information is compared with the authorization information-machine parameter association table to form a matching result;

[0035] Based on the matching results, retrieve the user's complete ergonomic parameters.

[0036] To further specify, the above-mentioned ergonomic setting method, after automatically completing the ergonomic settings, also includes:

[0037] The modified ergonomic parameters are obtained based on the manual adjustment information of the ergonomic settings or ergonomic parameters.

[0038] Record and upload the modified ergonomic parameters to the granting end of the authorization information - machine parameter association table.

[0039] This application also provides a surgical robot, including a master hand and a slave hand. The master hand includes a base, a column, and adjustable pedals, armrests, and a display. The ergonomic design of the master hand adopts any of the ergonomic design methods described above.

[0040] The target parameters include height, leg length, and arm length. The ergonomic parameters include the pedal distance parameter associated with the leg length parameter, the handrail height parameter associated with the arm length parameter, and the display height parameter associated with the height parameter.

[0041] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the ergonomic setting method described in any of the above claims.

[0042] This invention has at least the following beneficial effects:

[0043] 1. By pre-acquiring the doctor's target body parameters and generating complete ergonomic parameters based on these parameters, the authorization information is directly bound and uploaded to the surgical robot. This allows the doctor to automatically set the ergonomics of the surgical robot simply by entering the authorization information. This not only reduces the doctor's operational difficulty but also achieves matching between the doctor and personalized ergonomic settings, optimizes the doctor's user experience, and improves the speed of ergonomic parameter adjustment.

[0044] 2. By embedding the identity verification information-machine parameter association table into the surgical robot system, doctors can directly retrieve ergonomic parameters through personal identity verification when using the surgical robot for the first time, which greatly simplifies the doctor's usage process and saves surgical preparation time.

[0045] 3. Since the surgical robot itself has no registration interface, its use authorization is entirely handled by the manufacturer, thereby avoiding unauthorized personnel from using the surgical robot and reducing the risk of operating the surgical robot.

[0046] 4. When users manually adjust the ergonomic settings after completing them, the target & machine mapping relationship of the initial body parameters within the standard threshold range is optimized, which greatly improves the accuracy of body parameter inference and ergonomic parameter matching.

[0047] 5. Biometric verification can prevent the risk of users logging in with borrowed accounts, further improving the security and reliability of surgical robot account management. At the same time, biometric information can be used to directly retrieve the corresponding ergonomic parameters and automatically complete the ergonomic settings, eliminating the need for doctors to input and verify identity information, further shortening the ergonomic setting time of the surgical robot, improving the doctor's user experience and equipment security. Attached Figure Description

[0048] Figure 1 This is a flowchart of the ergonomic setting method according to an embodiment of this application;

[0049] Figure 2 This is a flowchart of a user control method according to an embodiment of this application;

[0050] Figure 3 This is a schematic diagram of the surgical robot according to an embodiment of this application;

[0051] Figure 4 This is a schematic diagram of the surgical robot according to an embodiment of this application;

[0052] Figure 5 This is a schematic diagram of the "ergonomic parameters" of the surgical robot in an embodiment of this application;

[0053] Figure 6 This is a schematic diagram of "body parameters" in an embodiment of this application.

[0054] Figure Labels

[0055] Base-100, pedal-200, column-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, tilt angle parameter-VT. Detailed Implementation

[0056] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0057] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0058] The ergonomic design method, surgical robot, and readable storage medium provided in this application will be described in detail below with reference to the accompanying drawings and through specific embodiments and application scenarios.

[0059] like Figures 3 to 4 As shown in the illustration, this application provides a minimally invasive surgical robot, including a master hand and a slave hand. The master hand includes a base 100, a pedal 200, a column 300, a handrail 500, a display 400, and a clamping and operating mechanism. The pedal 200 is mounted on the base 100 and its distance from the display 400 can be adjusted back and forth. The column 300 is mounted on the base 100. The handrail 500 is mounted on the column 300 and its height can be adjusted up and down relative to the base 100. The display 400 is mounted on the column 300 and its height can be adjusted up and down relative to the base 100, and its angle relative to the axis of the column 300 can be adjusted by rotation. Generally, existing surgical robots have a combination of manually adjustable buttons on the handrail 500, which can manually adjust the aforementioned distance, height, and angle. Specifically, motors are installed in corresponding parts of the surgical robot, and operating the relevant buttons can send commands to the corresponding motors to adjust the corresponding distance, height, or angle.

[0060] like Figure 1 As shown in the embodiments of this application, an ergonomic setting method is also provided, such as... Figure 5 As shown, the distance that the pedal 200 can be adjusted back and forth relative to the display 400 is denoted as the pedal distance parameter FD, the height that the armrest 500 can be adjusted up and down relative to the base 100 is denoted as the armrest height parameter AH, the height that the display 400 can be adjusted up and down relative to the base 100 is denoted as the display height parameter VH, and its tilt adjustment angle is denoted as the tilt angle parameter VT.

[0061] like Figure 6 As shown, the doctor's height is denoted as height parameter H, arm length as arm length parameter A, and leg length as leg length parameter L. It can be understood that the doctor's three parameters are related. Similarly, in the process of the doctor using the minimally invasive surgical robot, the height parameter H is related to the display height parameter VH, and the arm length parameter A is related to the armrest height parameter AH.

[0062] Understandably, doctors typically operate their main hand while seated in a height-adjustable chair. This height difference between the doctor's posture and the pedal 200 is matched to the height of the pedal. Therefore, the pedal distance parameter FD is related to both the doctor's chair height and leg length parameter L. The tilt angle parameter VT is related to the doctor's head angle habits. The head angle can be considered as the angle between the direction the eyes are looking and the horizontal plane. It is not a fixed value and is generally between 30° and 60°, but it can also be other angles. The initial recommended angle is 45°.

[0063] The ergonomic design method described in this embodiment specifically includes:

[0064] S1. The manufacturer obtains the doctor's complete body parameters and generates complete ergonomic parameters based on the complete body parameters and the target & machine mapping relationship.

[0065] S2. Generate the doctor's authorization information. Based on the complete ergonomic parameters and authorization information, generate an authorization information-machine parameter association table and upload it to the designated surgical robot.

[0066] S3. The doctor inputs authorization information into the surgical robot, and the surgical robot retrieves the corresponding ergonomic parameters based on the authorization information-machine parameter association table and automatically completes the ergonomic settings.

[0067] Understandably, in step S1, the target & machine mapping relationship is obtained through research and testing. It can be explained that the display height parameter VH ∝ height parameter H, the armrest height parameter AH ∝ arm length parameter A, and the pedal distance parameter FD ∝ 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. Specifically, 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 between the pedal 200 and the display 400, and the tilt angle parameter VT is used to automatically adjust the pitch angle of the display 400. Completing the above adjustments completes the ergonomic settings.

[0068] In this embodiment, the above-mentioned ergonomic setting method is adopted. By pre-acquiring the doctor's body parameters and generating complete ergonomic parameters based on the body parameters and the target & machine mapping relationship, the authorization information is directly bound and uploaded to the surgical robot. This allows the doctor to automatically set the ergonomics of the surgical robot by simply inputting the authorization information when using it. This not only reduces the doctor's operational difficulty but also achieves matching between the doctor and personalized ergonomic settings, optimizes the doctor's user experience, and improves the speed of ergonomic parameter adjustment.

[0069] In a preferred embodiment, in step S1, since the doctor may not know their complete body parameters, when the doctor only provides partial body parameters, a target-target mapping relationship needs to be referenced. That is, the mapping relationship between the doctor's own arm length parameter A, height parameter H, and leg length parameter L is introduced. Based on one body parameter provided by the doctor (usually height parameter H), the other two body parameters are obtained, and then all the ergonomic parameters of the main control panel are obtained. In this embodiment, the target-target mapping relationship uses empirical values, that is, height parameter H = 2, leg length parameter L = 2.6, arm length parameter A (decimal points are not retained).

[0070] It is understandable that the target & target mapping relationship itself has inaccuracies, so it needs to be continuously optimized through a large number of samples during the application process. For example, when the doctor provides two or more body parameters, the relationship between the multiple body parameters is calculated. When the difference between this relationship and the corresponding target & target mapping relationship is outside the set standard threshold range, this relationship is used as the correction value and averaged with the original value. Then, this average value replaces the original value in the target & target mapping relationship, thereby forming the corrected target & target mapping relationship.

[0071] Of course, in order to prevent the body parameters of special individuals from affecting the accuracy of the system, the difference between the corrected value and the original value must be compared before replacement or averaging. If the difference is within a certain standard threshold range, it is considered a universal adjustment and can be replaced. If it exceeds the threshold, it will not be replaced.

[0072] In this embodiment of the application, the above-mentioned ergonomic setting method is adopted to derive and supplement the doctor's body parameters through the target & target mapping relationship, so as to make the setting of ergonomic parameters more perfect and accelerate the generation efficiency of ergonomic parameters.

[0073] It is understandable that the above target-target mapping relationship only applies when measurement conditions are not available. If the manufacturer has measurement conditions, on-site measurements should be taken with doctors first to determine complete body parameters, thereby ensuring the accuracy of the body parameters.

[0074] In a preferred embodiment, in step S1, the manufacturer can obtain the doctor's complete physical parameters during doctor training or by actively collecting them from the hospital. The timing of obtaining the physical parameters can be before the completion of training or at the end of training, measuring only the physical parameters of doctors who have passed the training.

[0075] In a preferred embodiment, in step S2, the doctor's authorization information includes authentication information, which includes a username and initial password associated with the doctor's name and department. The username and initial password are provided to the corresponding doctor. The authorization information-machine parameter association table includes the authentication information-machine parameter association table, in which the doctor's authentication information is matched with their ergonomic parameters.

[0076] Understandably, manufacturers can generate authorization information only for doctors who have passed the training, thereby reducing the risk of access violations in subsequent operations. Specifically, manufacturers record the names and departments of doctors who have passed the training, and set usernames and initial passwords associated with those names and departments. For example, Wang Qiang - Gynecology, initial password wq-fk. The manufacturer will then provide the corresponding doctor with the username and initial password.

[0077] 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 via the network. It is understood that a storage device can also be used to embed the authorization information-machine parameter association table into the surgical robot system. For example, the authorization information-machine parameter association table can be stored in a hard disk, the hard disk can be connected to the surgical robot, and the authorization information-machine parameter association table recorded therein can be downloaded directly.

[0078] Understandably, each surgical robot has a unique identification code, so doctors from different hospitals can be matched with the surgical robots of that hospital without any update errors.

[0079] Similarly, if a doctor modifies the identity verification information, such as changing the password, the surgical robot modifies it locally and then uploads it to the manufacturer via the network, thus facilitating the manufacturer's monitoring of the account. If the surgical robot does not have network access, the manufacturer needs to periodically obtain the local data from the surgical robot to update the original database.

[0080] In this embodiment, the above-mentioned ergonomic setting method is adopted. By embedding the identity verification information-machine parameter association table into the surgical robot system, doctors can directly retrieve ergonomic parameters through personal identity verification information when using the surgical robot for the first time. This greatly simplifies the doctor's usage process and saves surgical preparation time.

[0081] In a preferred embodiment, in step S3, as... Figure 4 As shown, the surgical robot is equipped with a human-machine interface 630. The human-machine interface 630 only has a user login interface and no interface for registering new users. When a qualified doctor intends to use the robot, he only needs to log in and verify his identity information. The system retrieves the corresponding ergonomic parameters based on the built-in identity information-machine parameter association table and automatically drives the relevant components to complete the settings.

[0082] In this embodiment of the application, the above-described ergonomic design method is adopted. Since the surgical robot itself has no registration interface, its usage authorization is entirely handled by the manufacturer, thereby avoiding unauthorized personnel from using the surgical robot and reducing the operational risks of the surgical robot.

[0083] In a preferred embodiment, after steps S2 and S3, an optimization process for the target & machine mapping relationship is also included. When a user manually adjusts the ergonomic parameters of the main console before or during use (after the ergonomic parameters are automatically set), the system will record the adjusted parameters and upload the modified ergonomic parameters to the manufacturer via the network, or record the modified ergonomic parameters locally to await the manufacturer's investigation and sampling.

[0084] The manufacturer takes the modified ergonomic parameters as correction values ​​and averages them with the original values. Then, the manufacturer replaces the original values ​​with this average value in the target & machine mapping relationship, thus forming the modified target & machine mapping relationship.

[0085] It is understandable that, in addition to averaging, those skilled in the art can also think of other ways to obtain new values, such as weighted averaging, weighting the original value by 80%, and weighting the corrected value by 20%, etc., and repeating this process to complete the target & machine mapping relationship optimization process (generally after the system has obtained enough user samples).

[0086] 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 will be compared before replacement or averaging. If the difference is within a certain standard threshold range, it is considered a universal adjustment and can be replaced. If it exceeds the standard threshold range, it will not be replaced.

[0087] It should also be noted that if the user only provides the height parameter H during initial use, then only the values ​​related to the height parameter H (display height parameter VH) will be replaced in the manually adjusted correction values. The same applies if other parameters are provided initially. This setting method is because after the user manually adjusts the ergonomic parameters, the ergonomic parameters corresponding to the non-initial manually provided body parameters may be errors in the judgment of the target-machine mapping relationship or errors in the target-target mapping relationship. This makes it impossible to determine the source of the error and thus impossible to make accurate corrections. Of course, if a reliable target-machine mapping relationship or target-target mapping relationship is established after obtaining enough samples, the source of the error can be determined based on the reliable mapping relationship, thereby further correcting the mapping relationship.

[0088] In this embodiment of the application, the above-described ergonomic setting method is used to optimize the target & machine mapping relationship of the initial body parameters within the standard threshold range when the user manually adjusts the settings after the ergonomic settings are completed. This greatly improves the accuracy of body parameter inference and ergonomic parameter matching.

[0089] 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 authentication information-biometric information association table generated based on biometric information and authentication information.

[0090] In step S1, the process also includes acquiring at least one biometric feature of the doctor, such as iris, face, fingerprint, voiceprint, etc. The manufacturer generates digital biometric information based on the acquired biometric features. It is understood that the manufacturer may collect biometric features, such as fingerprints, only from qualified trained doctors to reduce workload.

[0091] In step S3, when the doctor enters the identity verification information on the surgical robot, the biometric information must also be verified simultaneously. If the user's biometric information matches the identity verification information-biometric information association table, the surgical robot will retrieve the corresponding ergonomic parameters based on the identity verification information-machine parameter association table and automatically complete the ergonomic settings.

[0092] like Figure 3 As shown, the surgical robot's display 400 is equipped with an iris recognition module 610 and a voiceprint recognition module 620. The iris recognition module 610 is used to verify the user's iris biometric information, and the voiceprint recognition module 620 is used to verify the user's voiceprint biometric information.

[0093] like Figure 4 As shown, the handrail 500 of the surgical robot is equipped with a fingerprint recognition module 640, which is used to verify the user's fingerprint biometric information.

[0094] In this embodiment of the application, the ergonomic design method described above is used to avoid the risk of users logging in by borrowing accounts through biometric information verification.

[0095] It is understandable that a priority can be set between authentication information and biometric information. That is, when the priority of biometric information is greater than that of authentication information, the user only needs to verify the biometric information to automatically retrieve the authentication information-machine parameter association table and automatically complete the ergonomic settings.

[0096] Similarly, step S2 can be directly set to generate a biometric information-machine parameter association table based on complete ergonomic parameters and biometric information, and upload it to the designated surgical robot. Step S3 can be set to the doctor verify the biometric information on the surgical robot, and the surgical robot retrieves the corresponding ergonomic parameters based on the biometric information-machine parameter association table and automatically completes the ergonomic settings.

[0097] In this embodiment, the above-mentioned ergonomic setting method is adopted, which directly retrieves the corresponding ergonomic parameters through biometric information and automatically completes the ergonomic setting, eliminating the need for doctors to input and verify identity information, further shortening the ergonomic setting time of the surgical robot, improving the doctor's user experience and the safety of the equipment.

[0098] like Figure 2 As shown in the embodiments of this application, a user control method is also provided, specifically including:

[0099] S1. The manufacturer obtains at least one biometric information of the doctor and generates the doctor's identity verification information;

[0100] S2. Generate an identity verification information-biometric information association table and upload it to the designated surgical robot;

[0101] S3. The doctor inputs identity verification information into the surgical robot. The surgical robot retrieves the corresponding biometric information based on the identity verification information and performs secondary verification. Based on the verification result, the operating permissions of the surgical robot are controlled.

[0102] In this embodiment, the user control method described above is used. By pre-acquiring the doctor's identity verification information and biometric information, an identity verification information-biometric information association table is generated and uploaded to the surgical robot. This requires the doctor to perform dual verification of identity verification information and biometric information when using the surgical robot, thereby ensuring the accuracy of surgical robot operation authorization, preventing unauthorized personnel from operating the surgical robot, and facilitating the management of the surgical robot.

[0103] In a preferred embodiment, in step S1, the biometric information includes iris, face, fingerprint, voiceprint, etc. The manufacturer can obtain at least one biometric information of the doctor before the doctor's training, or only measure the biometric information of the trained doctors at the end of the training. The doctor's identity verification information includes a username and initial password associated with the doctor's name and department, and the username and initial password are provided to the corresponding doctor.

[0104] In a preferred embodiment, in step S2, the doctor's authentication information and biometric information are matched in the authentication information-biometric information association table.

[0105] Understandably, manufacturers can generate identity verification information only for qualified doctors, thereby reducing the risk of access violations in subsequent operations.

[0106] In a preferred embodiment, in step S2, the authentication information-biometric information association table is uploaded to the corresponding model of the surgical robot system via the network. It is understood that a storage device can also be used to implant the authentication information-biometric information association table into the surgical robot system. For example, the authentication information-biometric information association table can be stored in a hard disk, the hard disk can be connected to the surgical robot, and the authentication information-biometric information association table recorded therein can be downloaded directly.

[0107] Similarly, if a doctor modifies the identity verification information, such as changing the username or password, the surgical robot will modify it locally and then upload it to the manufacturer via the network, thus facilitating the manufacturer's monitoring of the account. If the surgical robot does not have network access, the manufacturer needs to periodically obtain the local data from the surgical robot to update the original database.

[0108] Understandably, the doctor's biometric information cannot be modified on the surgical robot to avoid discrepancies between the surgical robot's login account and the actual operator, thereby preventing management chaos caused by mismatches between identity verification information and biometric information.

[0109] In a preferred embodiment, in step S3, the human-computer interaction interface 630 of the surgical robot only has a user login interface and no interface for registering new users. When a qualified doctor intends to use the robot, he only needs to log in and verify his identity information. The system retrieves the corresponding biometric information based on the built-in identity verification information-biometric information association table and compares it with the user. If they match, the user is judged to be a legitimate user and the first permission of the surgical robot can be granted. If they do not match, the user is judged to be an illegitimate user and a prompt is given, and the surgical robot is locked and not allowed to operate.

[0110] Understandably, the first level of access is considered a high-level access level, which allows normal operation of the surgical robot, including controlling the movement of the main console and the manipulator arm.

[0111] In a preferred embodiment, during the actual use of the surgical robot, in order to facilitate other doctors in the hospital to understand and become familiar with the surgical robot, or to enhance the training effect during training, it is necessary to use the surgical robot for simulation or hands-on training.

[0112] In step S3, after the user logs in and verifies their identity information, the surgical robot system retrieves the corresponding biometric information based on the built-in identity verification information-biometric information association table and compares it with the user. If they match, the user is determined to be a legitimate user and the first permission of the surgical robot can be granted. If they do not match, the user is determined to be an illegitimate user, the second permission of the surgical robot is granted, and a prompt is displayed.

[0113] Understandably, the second level of access is a low-level access. At this time, the main control panel can be operated normally, but the control arm will not move, that is, the two are disconnected. Using the above method can help other doctors understand and become familiar with the surgical robot and enhance the training effect.

[0114] In a preferred embodiment, in step S1, only at least one biometric information of the doctor is obtained and uploaded to the network for the surgical robot. The user directly obtains the operation permission of the surgical robot by verifying the biometric information. However, this method has a low fault tolerance rate and is prone to unstable login of the surgical robot. Secondly, this method cannot grant priority permissions, that is, it cannot open some permissions of the surgical robot, which is not conducive to other doctors understanding and becoming familiar with the surgical robot.

[0115] This application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the ergonomic setting method and / or user control method described above.

[0116] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0117] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. An ergonomic design method, characterized in that, include: Obtain the user's complete target parameters, and based on the complete target parameters, introduce a target & machine mapping relationship to generate complete ergonomic parameters; Generate the user's authorization information, which includes authentication information and / or biometric information; generate an authorization information-machine parameter association table based on the complete ergonomic parameters and the authorization information; Upload the authorization information – machine parameter association table to the corresponding execution machine; obtain the modified ergonomic parameters to correct the target & machine mapping relationship; A new target & machine mapping relationship is formed by averaging or weighting the modified ergonomic parameters and their mapping relationship with the target parameters and the target & machine mapping relationship. The difference between the modified ergonomic parameters and their mapping relationship with the target parameters and the target & machine mapping relationship is compared to a standard threshold range. If the difference is within the standard threshold range, the target & machine mapping relationship is corrected; otherwise, the correction is ignored.

2. A surgical robot, comprising a master hand and a slave hand, characterized in that, The main hand includes a base, a column, and adjustable pedals, armrests, and a display. The ergonomic design of the main hand adopts the ergonomic design method described in claim 1 above. The target parameters include height, leg length, and arm length. The ergonomic parameters include the pedal distance parameter associated with the leg length parameter, the handrail height parameter associated with the arm length parameter, and the display height parameter associated with the height parameter.

3. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the ergonomic setting method described in claim 1.

Images