An operating room intelligent assistant system

Abstract

The application relates to an operating room intelligent auxiliary system which comprises a suspension type intelligent hanging chair, a data acquisition module and a master control device, wherein the suspension type intelligent hanging chair comprises a multi-shaft mechanical arm and a foldable seat, the mounting end of the multi-shaft mechanical arm is fixed on the top of the operating room, and the tail end of the multi-shaft mechanical arm is connected with the foldable seat. Compared with the ground movable operating room seat in the prior art, the application breaks the traditional layout of the conventional operating room, in other words, breaks the stereotyped thinking that the seat should be placed on the ground in the traditional thinking of people, fully utilizes the empty space on the top of the operating room, adopts the suspension hanging chair mode, greatly saves the ground space of the operating room, and can relieve the fatigue and injury of doctors caused by long-term standing and bending.

Description

[0001] Priority application

[0002] This application claims priority to Chinese invention patent application filed on June 14, 2023, [Application No. 2023107065203] entitled "[An Intelligent Assistive Hanging Chair and Assistive System for Operating Room]", which is incorporated herein by reference in its entirety. Technical Field

[0003] This invention relates to the field of medical device technology, and in particular to an intelligent operating room assistance system. Background Technology

[0004] In surgical procedures, patients typically lie on a hospital bed before the surgeon operates the instruments. Most surgeries are performed standing and bending over. However, for lengthy procedures, prolonged standing can cause leg fatigue and impair the surgeon's ability to operate. Therefore, specialized operating room chairs are needed to assist surgeons. In response, various types of operating chairs have emerged on the market.

[0005] For example, Chinese invention patent application CN113952043A discloses a doctor's chair, which includes a seat, armrests and a wheel assembly, as well as a seat adjustment structure. It can adjust the seat forward and backward and up and down, and can also adjust the angle of the seat and backrest. In particular, the backrest itself can also be height adjusted, so that the chair can meet the needs of different doctors when working or resting. In addition, the backrest and seat are easy to fold, small in size, and easy to transport.

[0006] For example, Chinese utility model patent application CN205586090U discloses a microsurgical chair, which includes a support base, a seat cushion, and a rotatable support column and support feet under the support base. This chair allows surgeons of different heights, shoulder widths, and arm spans to easily adjust the position of the armrests in various directions (forward, backward, left, right, up, and down) according to their needs, providing multi-angle flexible and stable support, thus enabling surgeons to place their arms in the most comfortable position during surgery.

[0007] For example, Chinese invention patent application CN107198577A discloses an intelligent surgical chair that is fixed to the legs by chain-linked leg fixing devices. The electric cylinders, which are hinged together, do not hinder the user's normal walking and can help the user maintain a standing posture, thereby ensuring leg relaxation. When the user needs to lean forward, the invention relieves the pressure on the user's legs and waist through the cooperation of electric cylinders, vacuum generators and suction cups, and can pick up surgical instruments by robotic arms.

[0008] However, all the chairs currently used to assist doctors in performing surgery are floor-mounted chairs, and they only consider the issue of relieving doctors' physical fatigue, completely ignoring the fact that there are many instruments and little space to walk in the operating room. Therefore, when these chairs are placed in the operating room, not only will there be more instruments in the operating room, but the space to walk in during surgery will be further reduced.

[0009] On the other hand, existing floor chairs require the doctor to sit on the chair, and then the casters at the bottom of the chair slide on the ground to accommodate the doctor's movement. However, in actual surgery, the range of motion that may be needed is mostly small, and the feet may not even move, only the waist or hips need to move slightly. Only when the doctor needs to get items or other items may they need to leave the operating position, which involves a larger range of motion. Therefore, using casters makes the chair too flexible and makes it difficult for the doctor to control the range of motion. Instead, the doctor needs to use their feet or legs to limit the range of motion of the chair. Summary of the Invention

[0010] The purpose of this invention is to provide an intelligent operating room assistance system that partially solves or alleviates the above-mentioned shortcomings of the prior art, and can alleviate the fatigue and physical damage caused by doctors standing and bending over for long periods of time during surgery without taking up too much operating room space.

[0011] To solve the aforementioned technical problems, the present invention specifically adopts the following technical solution:

[0012] An intelligent operating room assistance system includes: a suspended intelligent chair, a data acquisition module, and a main control device, wherein...

[0013] The intelligent hanging chair is used to provide support or follow movement for the user during surgery; it includes: a multi-axis robotic arm and a foldable seat, the fixed end of the multi-axis robotic arm is fixed to the ceiling of the operating room, and the end of the multi-axis robotic arm is detachably connected to the foldable seat;

[0014] The data acquisition module is used to collect user information; the user information includes: voice data, image data, and motion data;

[0015] The main control device is used to control the smart hanging chair to be lowered or retracted based on the voice data collected by the data acquisition module, and to identify the user's current state based on the image data and motion data, and switch the working mode of the smart hanging chair according to the current state; wherein, the current state includes: sitting and located in the surgical position, or standing and located in the surgical position, or moving and located in the surgical position, or moving and located away from the surgical position; the working mode includes static support and dynamic following, the static support includes standing support and sitting support, and the dynamic following includes following movement within the surgical position.

[0016] In some embodiments, the master control device includes:

[0017] The first control module is used to receive voice data sent by the data acquisition module and identify the corresponding control command type. If the control command indicates that the seat should be lowered, the end of the multi-axis robotic arm is controlled to automatically and securely connect to the foldable seat. If the control command indicates that the chair should be retracted, the multi-axis robotic arm is controlled to send the foldable seat into the disinfection and storage compartment for storage. After the foldable seat is stored, the end of the multi-axis robotic arm is controlled to automatically detach from the foldable seat for storage.

[0018] The second control module is used to determine whether the user is currently in the surgical position based on the image data from the Susou app. When the image data indicates that the user is in the surgical position, the module determines the current posture (standing, sitting, or slight movement) based on motion data. If the user is standing, the module controls the multi-axis robotic arm to move the hip support mechanism of the foldable chair to the user's hips or below the hips, providing standing support. If the user is sitting, the module controls the multi-axis robotic arm to move the foldable chair so that the lumbar support mechanism and hip support mechanism of the foldable chair fit against the user's waist and hips, respectively, providing sitting support. If the user is moving slightly, the module controls the hanging chair to follow the movement based on motion data. If the user is not in the surgical position and is not in a slight movement state, the module controls the intelligent hanging chair to stop following the movement.

[0019] In some embodiments, the data acquisition module includes: a voice data acquisition unit, an image data acquisition unit, and a motion data acquisition unit that communicate with the main control device, respectively.

[0020] Preferably, the image data acquisition unit includes a high-definition camera device installed on the ceiling of the operating room.

[0021] Preferably, the motion data acquisition unit includes a GPS positioning device and a pressure sensor integrated on the smart hanging chair.

[0022] In some embodiments, the multi-axis robotic arm includes: a rigid robotic arm with its fixed end fixed to the top of the operating room, a pneumatic flexible robotic arm, and a flexible robotic arm power device, wherein the flexible robotic arm power device is disposed at the end of the rigid robotic arm and connected to the pneumatic flexible robotic arm.

[0023] In some embodiments, the foldable seat includes a lumbar support mechanism, a hip support mechanism, and a pneumatic flexible connection mechanism connecting the lumbar support mechanism and the hip support mechanism.

[0024] In some embodiments, the intelligent operating room assistance system further includes: a disinfection and storage compartment disposed on the top of the operating room for storing the intelligent hanging chair, wherein the fixed end of the rigid mechanical arm of the intelligent hanging chair is fixed in the disinfection and storage compartment by a mechanical arm fixing member.

[0025] In some embodiments, the lumbar support mechanism includes a support back plate for supporting the user's waist, the support surface of the support back plate is provided with a flexible lumbar pad, and a sensing device is provided inside the flexible lumbar pad; the hip mechanism includes: a fixing member connected to the end of the flexible connector, and two support chair plates provided on both sides of the fixing member for supporting the user's hips, the support surface of the support chair plates is provided with a flexible seat cushion.

[0026] In some embodiments, the flexible connector includes a plurality of vertebrae connected in series and an airway through the vertebrae, the airway being connected to an inflatable space within the flexible cushion.

[0027] In some embodiments, chair wings are also hinged to the bottom sides of the back panel.

[0028] Beneficial effects: 1) Compared with all existing ground-mounted operating room chairs, this invention breaks the traditional layout of traditional operating rooms. In other words, it breaks the conventional mindset that chairs should be placed on the ground. It makes full use of the open space at the top of the operating room and adopts a hanging chair method, so that when it is needed, the hanging chair can be lowered and when it is not needed, it can be stored in the top of the operating room.

[0029] 2) Compared to existing floor-mounted operating room chairs that use casters for movement, the actual range of motion during surgery is often small, sometimes even requiring only slight movements of the waist or hips, with larger movements only needed when the doctor needs to retrieve items. Therefore, casters make the chair too flexible and difficult for doctors to control, requiring them to exert force with their feet or legs to limit the range of motion. The hanging chair in this invention uses a pneumatic flexible robotic arm within a multi-axis robotic arm and a positioning device or sensor integrated into the lumbar structure to detect small movements of the user. Based on these detected movements, it provides small-amplitude (e.g., a few degrees) follow-up movements (e.g., following waist and hip movements), making it easier and more comfortable for doctors to perform these small movements. Furthermore, by using sensors (such as GPS positioning, potentiometers, or pressure sensors) installed in the lumbar support mechanism and / or hip support mechanism to detect the doctor's lumbar or hip movement data, and combining this data with graphical data to identify the doctor's state, different working modes can be switched according to the doctor's different state, such as standing support or sitting support, or small-amplitude follow-up. This eliminates the need for the doctor to exert force on the ground with their legs or feet to move the floor seat. Instead, the main control device achieves "active following" based on the doctor's state, which greatly facilitates the doctor's surgical process.

[0030] 3) Existing floor-mounted operating room chairs not only require doctors to manually move the chairs, but also require separate manual disinfection, which increases the workload of medical staff to some extent. The hanging chair of this invention integrates a disinfection and storage compartment at its top mounting position, so that when the seat part of the hanging chair is stored in the disinfection compartment, it can be automatically disinfected without separate manual disinfection, and the seat can be automatically lowered or stored.

[0031] The hanging chair of this invention adopts a three-section suspension structure, which can realize multiple functions such as stable follow-up, voice wake-up, automatic disinfection, and image recording, reducing the burden on doctors' bodies caused by standing for a long time and providing a more comfortable surgical environment. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. The elements or parts in the drawings are not necessarily drawn to scale. Obviously, the drawings described below are some embodiments of the present invention, and those skilled in the art can obtain other drawings based on these drawings without any creative effort.

[0033] Figure 1 This is a functional block diagram of an intelligent operating room auxiliary system according to an exemplary embodiment of the present invention;

[0034] Figure 2 This is a structural schematic diagram of a suspended intelligent hanging chair from a first angle, according to an exemplary embodiment of the present invention.

[0035] Figure 3 This is a structural schematic diagram of a suspended intelligent hanging chair from a second angle, which is an exemplary embodiment of the present invention.

[0036] Figure 4 for Figure 3 Enlarged schematic diagram of the foldable seat;

[0037] Figure 5 for Figure 3 Enlarged schematic diagram of the foldable seat;

[0038] Figures 6a-6c This is a schematic diagram of a hanging chair in an exemplary embodiment of the present invention, in which a multi-axis robotic arm and a foldable seat are stored in a disinfection chamber.

[0039] Figure 7 This is a diagram illustrating a user leaning against a smart hanging chair in an operating room.

[0040] Reference numerals: 1. Disinfection and storage chamber: Disinfection chamber 10, outer wall of disinfection chamber 11, seat enclosure component I 12, disinfection chamber door 13, seat enclosure component II 14, glass 15, camera 16, robotic arm support component 17; robotic arm fastener 18, robotic arm connector 19; 2. Robotic arm: Rigid robotic arm 21, fixed end 211, rigid connecting arm 212, indicator light 213, ambient light 216, power unit storage chamber 214, rigid robotic arm end 215; 3. Flexible robotic arm 22, flexible arm segment 221, connecting fastener 222, end connector 223; 4. Foldable seat 3: Operating window 30, supporting back panel 31, flexible lumbar support 32; supporting seat board 33, flexible seat cushion 34; 5. Seat wing 35, seat wing connector 351, flexible connector 36, fastener 37, pneumatic main valve 38; 6. Air duct 39. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0042] In this document, suffixes such as "module," "component," or "unit" used to denote elements are used solely for the purpose of illustrative purposes and have no specific meaning in themselves. Therefore, "module," "component," or "unit" can be used interchangeably. In this document, terms such as "upper," "lower," "inner," "outer," "front," "rear," "one end," and "the other end," indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. In this document, unless otherwise expressly specified and limited, terms such as "installed," "equipped with," and "connected" should be interpreted broadly. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, or an indirect connection through an intermediate medium; it can be a connection within two elements. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances. In this document, "and / or" includes any and all combinations of one or more of the listed related items. "Multiple" in this document means two or more, i.e., it includes two, three, four, five, etc. 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. Unless otherwise specified, 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.

[0043] See Figure 2 and Figure 3 The suspended intelligent chair in this embodiment includes a multi-axis robotic arm 2 and a foldable seat 3. The fixed end 211 of the multi-axis robotic arm 2 is fixedly installed on the ceiling of the operating room, and its end 215 is detachably connected to the foldable seat 3. That is, the foldable seat 3 is formed by the multi-axis robotic arm 2 to form a chair suspended from the ceiling of the operating room.

[0044] In some embodiments, the suspended intelligent chair further includes: a sterilization and storage compartment 1 embedded in the ceiling of the operating room, the sterilization and storage compartment 1 being used to store the aforementioned multi-axis robotic arm 2 and foldable seat 3, see [link to documentation]. Figure 6a and Figure 6b , Figure 6c .

[0045] In some embodiments, see Figure 2 , Figure 3 and Figure 6c The disinfection and storage compartment 1 includes a disinfection compartment 10. A seat enclosure II14 for supporting a seat is provided on the side of the entrance of the disinfection compartment 10 near the inner wall, and a seat enclosure I12 for supporting a seat is provided on the side of the entrance of the disinfection compartment near the outer wall. Specifically, see... Figure 6c As indicated by the arrow on seat enclosure II14, seat enclosure II14 can move smoothly relative to the inner wall of the disinfection chamber in that direction, while seat enclosure I12 can move smoothly relative to the outer wall 11 of the disinfection chamber in that direction. When the seat needs to be stored, seat enclosure I12 and seat enclosure II14 move towards each other under the drive of their respective drive mechanisms, thereby forming a support for supporting the seat. After the seat is stored in the disinfection chamber 10, the disinfection chamber door 13 can be closed for disinfection. When the seat needs to be lowered, seat enclosure I12 and seat enclosure II14 move away from each other to release the seat.

[0046] In some embodiments, the seat barrier I12 and the seat barrier II14 adopt the same structural design. Preferably, the size of the seat barrier I12 is smaller than the size of the seat barrier II14.

[0047] In some embodiments, the disinfection storage compartment 1 is provided with a robotic arm support 17 for supporting the multi-axis robotic arm 2 stored in the disinfection storage compartment 1.

[0048] Furthermore, the disinfection and storage chamber 1 is also equipped with sensors (e.g., pressure sensors mounted on the robotic arm support) to detect whether the multi-axis robotic arm 2 and / or the foldable seat 3 have been retracted into the disinfection chamber. When retraction is detected, a corresponding detection signal is sent to trigger the disinfection equipment within the disinfection chamber 10 to disinfect the foldable seat 3. Of course, the lowering and retraction of the chair can be done manually by the user, controlled by a corresponding host computer, or controlled by the controller integrated into the robotic arm.

[0049] In some embodiments, the multi-axis robotic arm 2 includes a rigid robotic arm 21 and a pneumatic flexible robotic arm 22 connected to the end 215 of the rigid robotic arm. The fixed end 211 of the rigid robotic arm 21 is fixed to the top of the operating room (for example, the fixed end 211, which also serves as a rotation joint, is fixed in the aforementioned disinfection and storage compartment 1 via a robotic arm connector 19 and a robotic arm fastener 18), while the end of the pneumatic flexible robotic arm 22 is connected to the aforementioned foldable seat 3. The power unit of the flexible robotic arm 22 (such as a miniature air pump, motor, and winch as an air source) is located at the end of the rigid robotic arm 21. Specifically, the power unit is housed in a power unit storage compartment 214 at the end of the rigid robotic arm, and the output end of the power unit is connected to the flexible robotic arm.

[0050] In this embodiment, both the rigid and flexible robotic arms utilize existing rigid robotic arms (each rigid robotic arm integrates a corresponding drive motor) and flexible robotic arms (for example, based on the principle of a snake-like robotic arm, the motor drives a winch to rotate, which in turn causes the steel wire connecting multiple flexible arm sections 221 to contract and change angle. Simultaneously, a micro air pump is used to fill and exhaust gas into the flexible arm sections 221 to achieve the extension state of each flexible arm section 221, thereby realizing the length adjustment of the flexible robotic arm. Specifically, the inflation spaces between the multiple flexible arm sections 221 are connected, and metal connecting fasteners 222 are spaced apart between the multiple flexible arm sections 221).

[0051] In this embodiment, a combination of rigid robotic arm 21 and pneumatic flexible robotic arm 22 is used. While the rigid robotic arm 21 provides sufficient stability, support and large range of movement, the flexible robotic arm 22 follows the user's small movements in the surgical position during the operation. (For example, the user's displacement can be detected by a sensor, and then the corresponding main control device controls the flexible robotic arm according to the displacement to make the foldable seat follow automatically, so that the user does not need to move while the arm acts on the seat to make the seat follow.)

[0052] In some embodiments, the rigid robotic arm 21 includes three rigid connecting arms 212 connected by a rotary joint, wherein the fixed end 211 of the rigid connecting arm located at the first end is fixed to one side of the disinfection and storage compartment by a robotic arm connector 19 and a robotic arm fastener 18. Of course, the number of rigid connecting arms 212 can be adjusted according to actual needs (e.g., the height of the operating room ceiling, and the range of motion).

[0053] In some embodiments, the foldable seat 3 includes: a lumbar support mechanism connected to the end of the pneumatic flexible robotic arm 22, and a hip support mechanism connected to the lumbar support mechanism via a pneumatic flexible connector 36.

[0054] The lumbar support mechanism includes: a rigid support back panel 31 (connected to the end of a flexible robotic arm 22, specifically, the end is connected to the support back panel 31 via an end connector 223), and a pneumatic flexible lumbar cushion 32 disposed on the support surface of the support back panel 31. Furthermore, the lumbar support mechanism also includes two chair wings 35 disposed on both sides near the bottom of the support back panel 31 (specifically, they are connected to the support back panel 31 via metal-supported chair wing connectors 351) to increase the sense of enclosure and adapt to users of different body types, thereby providing users with greater support and a better user experience.

[0055] The hip support mechanism includes: a fixing member 37 connected to the flexible connector 36; two-piece support chair panels 33 respectively disposed on both sides of the fixing member; and a pneumatic flexible seat cushion 34 disposed on the support surface of the support chair panels 33. (See attached image.) Figure 2 and Figure 4 .

[0056] In some embodiments, the support seat 33 includes a first portion for supporting the buttocks and a second portion for supporting the thighs.

[0057] In some embodiments, an operating window 30 is formed between the two-piece support chair panels 33 fixed to the fixing member 37, through which the flexible robotic arm 22 can pass. Specifically, when the seat 3 is moved into the disinfection chamber 10 by the robotic arm 2, the flexible connector 36 is folded, so that the hip support mechanism is folded to the back of the lumbar support mechanism, and the flexible robotic arm 22 connected to the back plate passes through the operating window 30 and out of the disinfection chamber 10. Correspondingly, the seat enclosure I 12 and the seat enclosure II 14 move towards each other under the action of the corresponding drive mechanism, thereby supporting the seat, and then the flexible robotic arm 22 automatically disengages from the seat 3.

[0058] In some embodiments, whether the seat reaches the disinfection chamber 10 and whether it is supported by the seat enclosure parts I and II can be detected by corresponding sensors.

[0059] In some embodiments, the flexible robotic arm and the back panel of the foldable seat can be connected by magnetic attraction, threaded connection or rotating buckle (for example, the end connector 22 can be connected by buckle by rotating it at a certain angle in the first direction, and the two can be disassembled by rotating it in the opposite direction).

[0060] In some embodiments, the fastener 37 is made of metal and serves to connect two support chair panels to match the contours of the user's hips.

[0061] In some embodiments, the flexible seat cushion 34 and the flexible lumbar support 32 can share the same air source. Specifically, the support back plate 31 has a through hole connecting to the exhaust port at the end of the flexible robotic arm 22, and an air passage 39 connects the inflation space between the flexible lumbar support 32 and the support back plate 31, and the inflation space between the support chair board 33 and the flexible seat cushion 34. Therefore, when the flexible robotic arm is inflated by a micro air pump into the inflation space within the flexible arm segment, the gas gradually fills the space between the flexible lumbar support and the support back plate through the flexible robotic arm, and then flows through the air passage 39 between the support chair board and the flexible seat cushion. To avoid exposed wiring affecting appearance and surgery, the air passage 39 is built into the flexible connector 6. Specifically, the flexible connector 6 is formed by connecting multiple vertebral segments similar to vertebral segments, and each segment has a through hole through which the airway tube 39 can pass. This allows the airway tube 39, which extends from the back of the support backplate 31, to pass through the through holes of multiple segments and connect to the inflation space within the flexible seat cushion. (See [reference]). Figure 3 and Figure 5 .

[0062] In some embodiments, the foldable seat 3 is a pneumatically adjustable seat, which can change the shape of the lumbar support mechanism and hip support structure by inflating and deflating the gas, flexibly adapting to different body shapes and providing a suitable sense of enclosure and support.

[0063] The chair in this embodiment has two working modes: static support and dynamic follow-up. Static support includes standing support (for example, when the doctor is standing, the hip / lumbar mechanism is controlled to unfold backward so as not to block the doctor's waist or width, while the hip mechanism is controlled to fold inward slightly towards the doctor, thereby providing some support for the doctor's hips) and sitting support (for example, when the doctor is sitting for a long time, the hip or lumbar mechanism is controlled to wrap around the doctor's hips or waist, while the hip mechanism is controlled to fold into a chair, providing support like a normal chair); dynamic follow-up includes small-amplitude (e.g., a few centimeters of movement or a few degrees of rotation) following movement in the surgical position (e.g., horizontal left and right following, vertical up and down movement, and full following, where full following means that in addition to the user's horizontal movement, there is also vertical up and down movement). Specifically, the main control device identifies when the doctor leaves the operating position or the hanging chair based on data collected by various data acquisition devices (e.g., high-definition cameras, pressure sensors on the foldable chair, and / or data collected by the lumbar positioning patch), and controls the hanging chair to stop moving. Alternatively, it analyzes the combined position data and image data collected by the camera device to control the hanging chair to move slightly.

[0064] In some embodiments, an indicator light 213 for indicating the status of the robotic arm is provided on the rigid robotic arm at the tail end.

[0065] Based on the aforementioned suspended intelligent chair, this invention also provides an intelligent operating room assistance system, see [link to relevant documentation]. Figure 1 Specifically, it includes: the aforementioned suspended smart hanging chair, and also includes: a data acquisition module for collecting data, and a main control device (e.g., a host computer or a mobile terminal) for controlling the suspended smart hanging chair.

[0066] In some embodiments, the data acquisition module includes:

[0067] The voice data acquisition unit communicates with the main control device to collect user voice data and send it to the main control device for analysis. Specifically, this voice data acquisition unit can use a microphone, allowing users to control the smart hammock using voice commands such as "lower the hammock," "retrieve the hammock," "disinfect the hammock," and "stop following." Compared to manually lowering or retrieving the hammock or triggering disinfection, the main control device analyzes the collected voice data to automatically lower or retrieve the hammock, greatly improving convenience.

[0068] In some embodiments, the data acquisition module further includes:

[0069] The image data acquisition unit communicates with the main control device to collect user image data and send it to the main control device for analysis. Specifically, this image data acquisition unit uses a high-definition camera installed on the ceiling of the operating room or inside a sterilization and storage compartment. It can be used to record the entire surgical process, take pathological photographs, and monitor the doctor's condition. For example, after receiving the image data acquired by the image data acquisition unit, the main control device can identify the doctor's working status, including: whether the doctor is currently in the surgical position; and whether the doctor is in a seated or standing static position in the surgical position.

[0070] In some embodiments, the data acquisition module further includes:

[0071] The location data acquisition unit communicates with the main control device to collect the user's location data and send it to the main control device for analysis. Specifically, this location data acquisition unit can use GPS, a location detector, or a pressure sensor, etc. When the main control device receives the location data collected by this unit, it can identify whether the doctor is currently in a dynamic or static state, and, in conjunction with the aforementioned image data analysis results, switch the operating mode of the hanging chair.

[0072] In some embodiments, after receiving voice data from the aforementioned voice data acquisition module, the main control device sends corresponding control signals to the corresponding modules. For example, if the voice data is "lower the chairlift" or "retract the chairlift," the main control device sends corresponding control commands to the control motors of the rigid robotic arm and the flexible robotic arm in the chairlift, thereby causing the chairlift to automatically lower or retract. If the voice data is "disinfect the chairlift," the main control device sends corresponding control commands to the disinfection equipment in the disinfection chamber 10 to control it to disinfect the chairlift. Of course, if no disinfection voice data is received, the main control device can also automatically control the disinfection equipment to disinfect the chairlift before it is lowered and when it is retracted. Specifically, the main control device includes a first control module, which receives voice control commands sent by the voice data acquisition module and identifies the command type. If the command indicates lowering the seat, the module sends a corresponding control command to the robotic arm to control the end of the robotic arm to automatically fasten to the connection end on the seat back. If the command indicates retracting the chair, the module sends a corresponding control command to the robotic arm to control the robotic arm to send the seat into the disinfection chamber. Then, the module controls the drive devices of the seat enclosure parts I and II to drive the seat enclosure parts I and II to move towards each other. When the seat is returned to its original position (e.g., after receiving a detection signal from the corresponding sensor device), the module controls the end of the robotic arm to automatically detach from the seat and controls the robotic arm to place on the support for storage.

[0073] In some embodiments, when the main control device receives the location data collected by the location data acquisition unit, it performs data analysis in conjunction with the image data collected by the image data acquisition unit to identify whether the user is currently in the surgical position (in this article, the surgical position refers to the operating space range in which the user performs surgical operations).

[0074] Specifically, the main control device includes a second control module, which is used to determine whether the user is currently in the surgical position based on the above image data, and when it is determined from the image data that the user is currently in the surgical position, it determines from the motion data whether the user is in a standing position, a sitting position, or a small-amplitude motion state.

[0075] If the user is in a standing position, the corresponding control signals are sent to the motors of the rigid robotic arm and the flexible robotic arm to make the hip support mechanism of the foldable seat fit against or under the user's hips, thereby providing standing support.

[0076] If the user is in a seated position, the corresponding control signals are sent to the motors of the rigid robotic arm and the flexible robotic arm to operate, so that the lumbar support mechanism and the hip support mechanism of the foldable seat fit against the user's waist and hips respectively, thereby providing seated support.

[0077] If the movement is minor, the swing chair will be controlled to follow the movement based on the motion data; if it is not a minor movement within the surgical position, the swing chair will be controlled to stop following the movement.

[0078] In some embodiments, the second control module is further configured to send a corresponding control command to the motor in the power unit of the flexible robotic arm if it is determined from the image data that the patient is not currently in the surgical position, so that the seat stops moving.

[0079] Preferably, the motion data is collected by a GPS or position detector integrated in the flexible lumbar support and / or flexible seat cushion, which can determine whether the user's waist and / or buttocks have moved and the specific displacement. If the second control module determines that the displacement is less than a preset displacement threshold, it is determined to be a small movement within the surgical position. If the displacement is greater than the preset displacement threshold, it is determined that the user is about to or is leaving the hanging chair, and therefore, the hanging chair is controlled to stop following.

[0080] Furthermore, pressure sensors can be integrated into the flexible lumbar support and seat cushion to assist in user status recognition. For example, if the pressure sensor on the flexible lumbar support does not detect pressure, but the pressure sensor integrated into the flexible seat cushion does, it indicates that the user is likely standing; if both sensors detect pressure, it indicates that the user is likely sitting; if neither sensor detects pressure, it indicates that the user has left the seat and therefore does not need to follow.

[0081] The auxiliary system in this embodiment can achieve multiple functions such as stable follow-up, voice wake-up, automatic disinfection, and image recording, reducing the burden on doctors' bodies caused by standing for long periods of time and providing a more comfortable surgical operating environment.

[0082] In some embodiments, the specific control of the above-mentioned hanging chair includes:

[0083] The main control equipment receives the first control command to lower the hanging chair and controls the multi-axis robotic arm to lower the foldable chair from the top of the operating room;

[0084] The main control device receives image data from the high-definition camera and motion data from the positioning lumbar pad integrated in the flexible lumbar support. Based on the image data and motion data, it identifies the user's current state. If the user is seated and in the surgical position, it controls the swing chair to enter the seated support mode. If the user is standing and in the surgical position, it controls the swing chair to enter the standing support mode. If the user is in motion and in the surgical position, it controls the swing chair to enter the follow-up mode. If the user is in motion and far from the surgical position, it controls the swing chair to enter the waiting mode (i.e., the stop follow-up mode).

[0085] In some embodiments, the system further includes:

[0086] A first sensor is used to detect whether a seat has been placed in the disinfection chamber. The first sensor communicates with the main control device. When the first sensor detects that the seat has been stored in the disinfection chamber, it sends a corresponding trigger signal to the main control device. The main control device generates a corresponding control signal to the drive device installed in the disinfection chamber to control the movement of seat enclosure I and seat enclosure II, so as to control the drive device to drive the two seat enclosures to move towards each other, thereby supporting the seat.

[0087] Furthermore, the system also includes a second sensor for detecting whether the seat has reached the target position (i.e., the designated storage position). This sensor communicates with the main control device. When it detects that the seat has reached the target position, it sends a corresponding trigger signal to the main control device. The main control device then generates a corresponding control signal for the power unit of the flexible robotic arm to control the power unit to rotate at a certain angle, thereby causing the flexible robotic arm to detach from the back panel of the foldable seat.

[0088] Of course, in other embodiments, a corresponding control switch, such as a magnetic connection switch, can be directly provided on the end connector 223 at the end of the flexible robotic arm. This allows the main control device to control the control switch to close under the trigger of the second sensor, thereby causing the flexible robotic arm to automatically detach from the foldable seat.

[0089] Of course, the main control device is also used to send corresponding control signals to the drive device of the disinfection chamber door and the disinfection device respectively after the flexible robotic arm is detached from the foldable seat, so as to control the disinfection chamber door to close automatically, and after closing, the disinfection device will automatically disinfect the foldable seat.

[0090] 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. Unless otherwise specified, 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.

[0091] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention 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 the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. An intelligent auxiliary system for the operating room, characterized in that, include: The suspended smart chair includes a data acquisition module and a main control device. The intelligent hanging chair is used to provide support or follow movement for the user during surgery; it includes: a multi-axis robotic arm and a foldable seat, the fixed end of the multi-axis robotic arm is fixed to the ceiling of the operating room, and the end of the multi-axis robotic arm is detachably connected to the foldable seat; The data acquisition module is used to collect user information; the user information includes: voice data, image data, and motion data; The main control device is used to control the smart hanging chair to be lowered or retracted based on the voice data collected by the data acquisition module, and to identify the user's current state based on the image data and motion data, and switch the working mode of the smart hanging chair according to the current state; wherein, the current state includes: sitting and located in the surgical position, or standing and located in the surgical position, or moving and located in the surgical position, or moving and located away from the surgical position; the working mode includes static support and dynamic following, the static support includes standing support and sitting support, and the dynamic following includes following movement within the surgical position; The main control device includes: The second control module is used to determine whether the user is currently in the surgical position based on the image data. When the image data indicates that the user is in the surgical position, the module determines whether the user is standing, sitting, or in a state of slight movement based on the motion data. If the user is standing, the module controls the multi-axis robotic arm to position the hip support mechanism of the foldable chair to the user's hips or below the hips, thereby providing standing support. If the user is sitting, the module controls the multi-axis robotic arm to position the lumbar support mechanism and hip support mechanism of the foldable chair to fit against the user's waist and hips, respectively, thereby providing sitting support. If the user is in a state of slight movement, the module controls the hanging chair to follow the movement based on the motion data. If the user is not in a state of slight movement within the surgical position, the module controls the intelligent hanging chair to stop following the movement.

2. The intelligent operating room auxiliary system according to claim 1, characterized in that, The data acquisition module includes: a voice data acquisition unit, an image data acquisition unit, and a motion data acquisition unit that communicate with the main control device.

3. The intelligent auxiliary system for the operating room according to claim 2, characterized in that, The image data acquisition unit includes a high-definition camera device installed on the ceiling of the operating room.

4. The intelligent auxiliary system for the operating room according to claim 2, characterized in that, The motion data acquisition unit includes a GPS positioning device and a pressure sensor integrated on the smart hanging chair.

5. The intelligent operating room auxiliary system according to claim 1, characterized in that, The multi-axis robotic arm includes: a rigid robotic arm with its fixed end fixed to the top of the operating room, a pneumatic flexible robotic arm connected to the end of the rigid robotic arm, and a power device for the flexible robotic arm, wherein the power device for the flexible robotic arm is located at the end of the rigid robotic arm and is connected to the pneumatic flexible robotic arm.

6. The intelligent operating room auxiliary system according to claim 1, characterized in that, The foldable seat includes a lumbar support mechanism, a hip support mechanism, and a pneumatic flexible connection mechanism connecting the lumbar support mechanism and the hip support mechanism.

7. The intelligent auxiliary system for the operating room according to claim 1, characterized in that, Also includes: A sterilization and storage compartment for housing the smart hanging chair is embedded in the top of the operating room. The fixed end of the rigid mechanical arm of the smart hanging chair is fixed in the sterilization and storage compartment by a mechanical arm fixing component.

8. The intelligent auxiliary system for the operating room according to claim 6, characterized in that, The lumbar support mechanism includes a support back plate for supporting the user's waist, the support surface of the support back plate is provided with a flexible lumbar pad, and a sensing device is provided inside the flexible lumbar pad; the hip mechanism includes: a fixing member connected to the end of the flexible connector, and two support chair plates provided on both sides of the fixing member for supporting the user's hips, the support surface of the support chair plates is provided with a flexible seat cushion.

9. The intelligent auxiliary system for the operating room according to claim 8, characterized in that, The flexible connector includes multiple vertebral segments connected in series, and an airway tube passing through the vertebral segments, the airway tube being connected to the inflatable space within the flexible cushion.

10. An intelligent operating room auxiliary system according to claim 8, characterized in that, Chair wings are also hinged to the bottom of both sides of the support back panel.

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