Medical robot and voice talkback processing method applied to medical robot

Abstract

The embodiment of the invention provides a medical robot and a voice talkback processing method applied to the medical robot, the medical robot comprises a doctor trolley, a patient trolley and an image trolley, and the doctor trolley comprises a first industrial personal computer and a first photoelectric conversion module connected with the first industrial personal computer through a network cable; the first industrial personal computer is provided with a first interface used for being connected with the first voice talkback assembly. The patient trolley comprises a second industrial personal computer and a second photoelectric conversion module connected with the second industrial personal computer through a network cable; the second industrial personal computer is provided with a second interface used for being connected with a second voice talkback assembly. The image trolley comprises a third photoelectric conversion module, a third industrial personal computer and a fourth photoelectric conversion module; the first photoelectric conversion module and the third photoelectric conversion module are linked based on an Ethernet link, and the second photoelectric conversion module and the fourth photoelectric conversion module are linked based on an Ethernet link. Therefore, the reliability of hardware can be improved, the talkback delay is reduced, and the real-time performance of voice talkback is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a medical robot and a voice intercom processing method applied to the medical robot. Background Art

[0002] With the continuous development of medical equipment, computer technology and control technology, minimally invasive surgery has been increasingly widely used due to its advantages of small surgical trauma, short recovery time and less pain for patients. Minimally invasive medical robots are widely used in surgical departments such as urology, thoracic surgery, general surgery and neurosurgery due to their high dexterity, high control accuracy and intuitive surgical images. Among them, the most widely used minimally invasive medical robot is the laparoscopic medical robot, which is used to perform surgery on the patient's abdomen, pelvis, chest and other parts.

[0003] The laparoscopic medical robot consists of a doctor's console (also known as a doctor's trolley), a patient operating table (also known as a patient trolley), and an image platform (also known as an image trolley). Each trolley is connected by an optical fiber integrated cable to realize information interaction, network communication, master-slave control, image transmission and other functions between the trolleys. In the early stage of the operation, the patient trolley needs to broadcast pre-operative operation voice prompts to prompt the operator of the patient trolley to perform relevant pre-operative operation procedures. During the operation, the operator of the doctor's trolley and the operator of the patient trolley sometimes need to communicate in real time or the patient trolley will have relevant alarm function prompts. The voice intercom function and prompt function are used to realize the information interaction between the doctor's trolley and the patient trolley before and during the operation.

[0004] However, the voice intercom module between the doctor cart and the patient cart in the current medical robot is connected by converting the optical fiber line into Ethernet, which has a certain risk of hardware failure and intercom delay. Summary of the invention

[0005] The present application provides a medical robot and a voice intercom processing method applied to the medical robot, which can realize the voice intercom function through the industrial computer of each vehicle and directly communicate through the Ethernet link between the industrial computers. This can simplify the physical link and structure, improve the reliability of the hardware, reduce the intercom delay, and ensure the real-time nature of the voice intercom.

[0006] In a first aspect of the present application, a medical robot is provided, including a doctor trolley, a patient trolley and an imaging trolley.

[0007] The doctor's trolley includes a first industrial computer and a first photoelectric conversion module; the first photoelectric conversion module is connected to the first industrial computer via a network cable; the first industrial computer is provided with a first interface;

[0008] The patient trolley includes a second industrial computer and a second photoelectric conversion module; the second photoelectric conversion module is connected to the second industrial computer via a network cable; the second industrial computer is provided with a second interface; wherein the first interface and the second interface are both used to connect to a voice intercom component; the voice intercom component is used to receive voice intercom information;

[0009] The imaging vehicle comprises a third photoelectric conversion module, a third industrial computer and a fourth photoelectric conversion module; the third photoelectric conversion module and the fourth photoelectric conversion module are respectively connected to the third industrial computer via a network cable;

[0010] The first photoelectric conversion module and the third photoelectric conversion module, as well as the second photoelectric conversion module and the fourth photoelectric conversion module are all connected based on an Ethernet link, and the Ethernet link is used to transmit the voice intercom information.

[0011] In some embodiments, the first interface includes a first voice interface and a first speaker interface; the first voice interface is used to connect to the microphone array in the first voice intercom component; the first speaker interface is used to connect to at least one first speaker in the first voice intercom component.

[0012] In some embodiments, the second interface includes a second voice interface and a second speaker interface; the second voice interface is used to connect a microphone in the second voice intercom component; the second speaker interface is used to connect at least one second speaker in the second voice intercom component.

[0013] In some embodiments, the first voice interface and / or the second voice interface includes a 3.5mm interface; the first speaker interface and / or the second speaker interface includes a USB interface.

[0014] In some embodiments, the first industrial computer and / or the second industrial computer includes a recording module, which is used to obtain a recording signal to be processed, and filter the recording signal to be processed based on a reference signal to obtain a target recording signal, and store the target recording signal.

[0015] In some embodiments, the first industrial computer and the second industrial computer both include a voice processing module;

[0016] The voice processing module is used to perform voice enhancement processing on the voice intercom information machine.

[0017] In some embodiments, the speech processing module includes:

[0018] A gain control unit, used for performing gain control processing on the voice intercom information to obtain a first voice signal;

[0019] A noise reduction unit, configured to perform noise reduction processing on the first speech signal to obtain a second speech signal;

[0020] The dereverberation unit is used to perform dereverberation processing on the second voice signal to obtain new voice intercom information.

[0021] In a second aspect of the present application, a voice intercom processing method is provided, which is applied to a medical robot, wherein the medical robot includes a doctor trolley, a patient trolley and an imaging trolley, wherein the doctor trolley and the imaging trolley, and the imaging trolley and the patient trolley communicate based on an Ethernet link;

[0022] The method comprises:

[0023] The doctor's trolley obtains the voice intercom information input by the user through the first voice intercom component; the first voice intercom component is plugged into the first interface of the first industrial computer in the doctor's trolley;

[0024] The doctor's trolley performs voice enhancement processing on the voice intercom information through the first industrial computer to obtain new voice intercom information;

[0025] The doctor's cart outputs the new voice intercom information via the Ethernet link.

[0026] In some embodiments, the method further comprises:

[0027] The patient cart receives the new voice intercom information output by the doctor cart through the Ethernet link;

[0028] The patient cart plays the new voice intercom information through the second voice intercom component; the second voice intercom component is plugged into the second interface on the second industrial computer in the patient cart.

[0029] In some embodiments, the method further comprises:

[0030] The first industrial computer in the doctor's trolley and / or the second industrial computer in the image trolley obtain the recording signal to be processed, and the first industrial computer and / or the second industrial computer filter the recording signal to be processed based on the reference signal to obtain the target recording signal, and store the target recording signal.

[0031] In a third aspect of the present application, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of any of the above-mentioned embodiments are implemented.

[0032] In a fourth aspect of the present application, a non-transitory computer-readable storage medium is provided, on which a computer program is stored, characterized in that when the computer program is executed by a processor, the steps of any of the above-mentioned embodiment methods are implemented.

[0033] The embodiment of the present application provides a medical robot, including a doctor's trolley, a patient trolley and an imaging trolley. The doctor's trolley includes a first industrial computer and a first photoelectric conversion module; the first photoelectric conversion module is connected to the first industrial computer via a network cable; the first industrial computer is provided with a first interface; the first interface is used to connect to a first voice intercom component; the patient trolley includes a second industrial computer and a second photoelectric conversion module; the second photoelectric conversion module is connected to the second industrial computer via a network cable; the second industrial computer is provided with a second interface; wherein the second interface is used to connect to a second voice intercom component; the first voice intercom component and the second voice intercom component are both used to receive voice intercom information or play voice intercom information; the imaging trolley includes a third photoelectric conversion module block, a third industrial computer and a fourth photoelectric conversion module; the third photoelectric conversion module and the fourth photoelectric conversion module are respectively connected to the third industrial computer through network cables; the first photoelectric conversion module and the third photoelectric conversion module, as well as the second photoelectric conversion module and the fourth photoelectric conversion module are all connected based on Ethernet links, and the Ethernet link is used to transmit voice intercom information; in this way, the voice intercom information can be obtained through the industrial computer of each vehicle and transmitted through the Ethernet link between the industrial computers to realize the voice docking function, which can simplify the physical link and structure, improve the reliability of the hardware, and directly communicate through the Ethernet link can reduce the intercom delay and ensure the real-time nature of the voice intercom. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0035] Figure 1 A schematic diagram of the structure of a medical robot provided in an embodiment of the present application;

[0036] Figure 2 A flowchart of a voice intercom processing method provided in an embodiment of the present application;

[0037] Figure 3 A flowchart of another voice intercom processing method provided in an embodiment of the present application;

[0038] Figure 4 A schematic diagram of the structure of a voice intercom processing device provided in an embodiment of the present application;

[0039] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be clearly and completely described below in conjunction with the drawings in the present application.

[0041] In this specification, many specific technical details are described in some places so that those skilled in the art can understand the complete technical solution. However, it should be understood that the embodiments of the present application can be implemented without these specific technical details. Such detailed description of technical details should not be regarded as a limitation to the present application, and the protection scope of the present application is limited only by the claims. In other places, known structures, connection / position relationships, circuits and / or other details may not be shown in detail to avoid misunderstandings by the public about the main points of the invention of the present application.

[0042] In this specification, the drawings show schematic diagrams of several embodiments of the present application. However, the drawings are only schematic, and it should be understood that changes in mechanical structure, connection / position relationship, physical composition, electrical and steps can be made without departing from the spirit and scope of the present application. Such changes can be either replacement or combination of elements of several embodiments of the present application, or replacement or combination of known contents.

[0043] The terms used herein below are only used to describe specific embodiments and are not intended to limit the present application. Spatially relative terms, such as "below", "lower", "above", "upper", "middle", "middle", "inside", "outside", "center", "edge", etc., are used to describe the relationship between one component or feature shown in the figure and another component or feature for the convenience of explanation. It should be understood that spatially relative terms can only be used under the conditions of the positioning direction of the device in use or operation (except for the positioning direction specifically defined in the figure), and are not necessarily unique and unchanging. For example, if the device in the figure is flipped 180° up and down along the paper, then the elements described as being "below" other components or features will become "above" other components or features. Therefore, the exemplary term "below" can cover both the above and below directions, depending on how the device is positioned. The device can also be positioned in other directions (for example, rotated 90° or positioned in other directions), and the spatially relative descriptors used herein are interpreted accordingly.

[0044] As used herein, "several", "one", and "the" are intended to include plural forms as well, unless the context indicates otherwise. It should be further understood that the terms "include" and / or "comprise" specify the presence of stated features, steps, operations, elements, and / or parts, but do not exclude the presence of one or more other features, steps, operations, elements, parts, and / or groups thereof.

[0045] The term "object" generally refers to a component or a group of components. Throughout the specification and claims, the terms "object", "component", "portion", "part", "module", "assembly" and "element" are used interchangeably.

[0046] The terms "instrument", "surgical instrument" and "surgical instrument" are used herein to describe a medical device configured to be inserted into a patient and used to perform a surgical or diagnostic procedure, generally including an end effector. An end effector may be a surgical tool associated with one or more surgical procedures, such as forceps, needle holders, scissors, bipolar cauterizers, tissue stabilizers or retractors, clip appliers, stapling devices, imaging devices (e.g., endoscopes or ultrasound probes), and the like. Some instruments used in embodiments of the present application further provide an articulated support (sometimes referred to as a "wrist joint", "joint seat") for the surgical tool, so that the position and / or orientation of the end effector can be flexibly manipulated with one or more mechanical degrees of freedom relative to the instrument axis. Further, many end effectors include functional mechanical degrees of freedom, such as jaws that open or close or blades that translate along a specific path. The instrument may also contain information stored (e.g., on a PCBA board within the instrument) that is permanent or updateable by the surgical system. Accordingly, the system may provide one-way or two-way information communication between the instrument and one or more system components.

[0047] The term "mating" (sometimes referred to as "connecting", "coupling", "mounting", "assembling") can be broadly understood as any situation in which two or more objects are connected in a manner that allows the mating objects to operate in conjunction with each other. It should be noted that mating does not require a direct connection (e.g., a direct physical or electrical connection), but rather many objects or components can be used to mate two or more objects. For example, objects A and B can be mated using object C. In addition, the terms "removably coupled" or "removably mated" can be interpreted to mean a non-permanent connection or mating situation between two or more objects. This means that the removably coupled objects can be uncoupled and separated so that they no longer operate in conjunction.

[0048] The term "joint position" can be broadly understood as the angle of a joint or its spatial position. The angle of a joint refers to the actual rotation angle of the joint relative to the zero point within its range of rotation. If there is no zero point, it is the incremental rotation angle. The spatial position refers to the position of the virtual joint center in a specific spatial coordinate system. For example, for a Cartesian spatial coordinate system, the spatial position refers to the three-dimensional position in XYZ coordinates.

[0049] Finally, the terms "or" and "and / or" as used herein should be interpreted as inclusive or meaning any one or any combination. Thus, "A, B, or C" or "A, B and / or C" means any one of the following: A; B; C; A and B; A and C; B and C; A, B, and C. An exception to this definition will only occur when a combination of elements, functions, steps, or actions are inherently mutually exclusive in some way.

[0050] With the continuous development of medical equipment, computer technology and control technology, minimally invasive surgery has been increasingly widely used due to its advantages of small surgical trauma, short recovery time and less pain for patients. Minimally invasive medical robots are widely used in surgical departments such as urology, thoracic surgery, general surgery, and neurosurgery due to their high dexterity, high control accuracy, and intuitive surgical images. Among them, the most widely used minimally invasive medical robot is the laparoscopic medical robot, which is used to perform surgeries on the patient's abdomen, pelvis, chest, and other parts of the body. The laparoscopic medical robot consists of a doctor's console (also called a doctor's trolley), a patient operating table (also called a patient trolley), and an image platform (also called an image trolley). The trolleys are connected by optical fiber integrated cables to realize information interaction, network communication, master-slave control, image transmission, and other functions between the trolleys.

[0051] In some embodiments, the patient trolley generally includes a chassis, a column, a plurality of surgical arms connected to the column, and one or more surgical instrument manipulators at the end of the support assembly of each surgical arm. The surgical instrument and / or laparoscope is detachably connected to the surgical instrument manipulator. Each surgical instrument manipulator supports one or more surgical instruments and / or laparoscopes operated at the surgical site in the patient's body. Each surgical instrument manipulator can be allowed to control the relevant surgical instruments in various forms of one or more mechanical degrees of freedom (e.g., all six Cartesian degrees of freedom, five or less Cartesian degrees of freedom, etc.). Typically, each surgical instrument manipulator is limited by mechanical or software constraints to rotate the relevant surgical instrument around the center of motion on the surgical instrument that remains stationary relative to the patient, and the center of motion is generally located at the position where the surgical instrument enters the body wall, and the center of motion is generally referred to as the "distal center" or "fixed point".

[0052] In some embodiments, the imaging trolley generally includes one or more video displays with a video image capture function (commonly an endoscope) and for displaying the surgical instruments in the captured image. In some laparoscopic medical robots, an optical device is included to transmit the image from the patient's body to one or more imaging sensors (e.g., CCD or CMOS sensors) at the distal end of the endoscope, and then transmit the video image to the host of the imaging platform through steps such as photoelectric conversion. Subsequently, through image processing, the processed image is displayed on a video display for observation by other doctors or assistants.

[0053] In some embodiments, the doctor's trolley generally includes a chassis, a pedal assembly, a stereo monitor, a main control arm, and a manual controller connected to the end of the main control arm. The surgeon controls the manual controller and the pedal assembly to achieve specific movements and / or energy excitation of the surgical instrument. The surgeon's control platform can be at a single location in the surgical system composed of a laparoscopic medical robot or it can be distributed at two or more locations in the system, and the remote control master / slave operation can be completed according to a preset control degree, for example, one location is used as the main control for the main operation, and another location is used as the auxiliary control for an auxiliary operation. The main control completes the main surgical operation, and the auxiliary control completes auxiliary operations such as laparoscope movement or tissue traction. In some embodiments, the manual controller can be an input device capable of completing one or more manual operations, such as a joystick, an exoskeleton glove, a power and gravity compensation manipulator, etc. These input devices collect the surgeon's operation signal, and after being processed by the control system, generate control signals for the robotic arm and the surgical instrument manipulator, thereby controlling the remote control motor on the surgical instrument manipulator, which in turn controls the final movement of the surgical instrument.

[0054] Generally, the force generated by the remote motor is transmitted via a transmission system, which transmits the force from the remote motor to the end effector of the surgical instrument. In some teleoperated surgical embodiments, the input device for controlling the manipulator may be located at a location remote from the patient, in or outside the room where the patient is located, or even in a different city. The input signal from the input device is then transmitted to the control system. Those familiar with teleoperation, telecontrol and telepresentation surgery will understand such systems and their components and will not be described in detail here.

[0055] In the application scenario of using medical robots for surgical operations, the doctor's trolley and the patient's trolley are usually distributed in different locations in the operating room (in the same room or different rooms) according to the type of operation or the environment of the operating room. During the operation, real-time voice intercom and related alarm prompts need to be broadcast between the operator of the doctor's trolley and the operator of the patient's trolley to realize the real-time intercom function and alarm prompts of the entire surgical robot system. For example, before the operation, the patient's trolley needs to broadcast pre-operative operation voice prompts to prompt the operator of the patient's trolley to perform relevant pre-operative operation procedures. During the operation, the operator of the doctor's trolley and the operator of the patient's trolley sometimes need to communicate in real time or the patient's trolley will have relevant alarm function prompts. The voice intercom function and prompt function are used to realize the voice intercom between the doctor's trolley and the patient's trolley before and during the operation.

[0056] At present, the voice intercom module between the doctor's trolley and the patient's trolley in the medical robot is connected by converting the optical fiber line to Ethernet. However, the transmission distance of the optical fiber line is limited, that is, when the optical fiber line is converted to Ethernet, it is usually necessary to use an optical transceiver converter (also known as an optical modem) to convert the optical signal into an electrical signal for use in Ethernet. However, the fiber-to-building access method needs to rely on active equipment. If the active equipment is powered off or fails, the optical fiber line will be interrupted, thereby affecting the information interaction between the doctor's trolley and the patient's trolley. Moreover, since the optical fiber is glass fiber inside, the maintenance of the optical fiber line is difficult. Once the optical fiber line is damaged, the maintenance process is relatively complicated and time-consuming, which may cause a long-term network interruption. In this way, the voice intercom module between the doctor's trolley and the patient's trolley in the medical robot is connected by converting the optical fiber line to Ethernet, which has a certain risk of hardware failure and intercom delay. In addition, the voice intercom module between the doctor cart and the patient cart in the medical robot is connected by converting the optical fiber line into Ethernet, which requires the medical robot to adjust the parameters through the parameter adjustment serial port cable. When the parameter adjustment serial port cable is routed through the drag chain, the cable is easily damaged over time, thereby affecting the parameter adjustment function. That is, the parameter adjustment is easily affected by external interference and hardware failure.

[0057] On the other hand, since the voice intercom modules on the doctor cart and patient cart in the current medical robots are usually purchased voice intercom modules, and the relevant voice parameters of the purchased voice intercom modules are basically fixed, it is not easy to optimize and upgrade the voice intercom modules, and it is not possible to optimize and configure the voice intercom parameters according to the actual complex working conditions of the operating room, the voice intercom effect is poor and cannot meet the needs of actual surgical scenarios.

[0058] In order to solve the above technical problems. This application provides a medical robot, which can obtain voice intercom information through the industrial computer of each vehicle, and perform voice enhancement processing on the voice intercom information to obtain new voice intercom information; then, the new voice intercom information is transmitted through the Ethernet link between the industrial computers to realize the voice docking function, which can simplify the physical link and structure, improve the reliability of the hardware, and directly communicate through the Ethernet link to reduce the intercom delay and ensure the real-time nature of the voice intercom.

[0059] The following is combined with Figure 1 , the medical robot provided in the embodiment of the present application is described. Figure 1 As shown, an embodiment of the present application provides a medical robot, including a doctor trolley, a patient trolley and an image trolley. The doctor trolley includes a first industrial computer and a first photoelectric conversion module; the first photoelectric conversion module is connected to the first industrial computer through a network cable; the first industrial computer is provided with a first interface; the patient trolley includes a second industrial computer and a second photoelectric conversion module; the second photoelectric conversion module is connected to the second industrial computer through a network cable; the second industrial computer is provided with a second interface; the image trolley includes a third photoelectric conversion module, a third industrial computer and a fourth photoelectric conversion module; the third photoelectric conversion module and the fourth photoelectric conversion module are respectively connected to the third industrial computer through a network cable; the first photoelectric conversion module and the third photoelectric conversion module, as well as the second photoelectric conversion module and the fourth photoelectric conversion module are all connected based on Ethernet links.

[0060] Exemplarily, the first photoelectric conversion module, the second photoelectric conversion module, the third photoelectric conversion module and the fourth photoelectric conversion module are all photoelectric converters. The first photoelectric conversion module is connected to the third photoelectric conversion module via an Ethernet link, and the third photoelectric conversion module is connected to the third industrial computer via a network cable; the second photoelectric conversion module is connected to the fourth photoelectric conversion module via an Ethernet link, and the fourth photoelectric conversion module is connected to the third industrial computer via a network cable. In this way, the doctor's trolley and the patient's trolley will be bridged via Ethernet in the imaging trolley.

[0061] In some embodiments, the first interface is used to connect to a first voice intercom component, and the second interface is used to connect to a second voice intercom component. The first voice intercom component and the second voice intercom component are both used to receive voice intercom information or play voice intercom information.

[0062] Exemplarily, the first voice intercom component may include a microphone module and a speaker, and the second voice intercom component may include a pickup and a speaker. This embodiment of the present application is not limited to this.

[0063] In some embodiments, the first interface may include a first voice interface and a first speaker interface; the first voice interface is used to connect a microphone array (also known as a noise reduction microphone directional pickup matrix module); the first speaker interface is used to connect at least one first speaker; wherein the microphone array and the at least one first speaker are both first voice intercom components.

[0064] Exemplarily, the first voice interface may be a 3.5mm interface, and the first speaker interface may be a USB interface. In actual application scenarios, the 3.5mm plug corresponding to the microphone array may be inserted into the first voice interface, so that the microphone array is connected to the first industrial computer. Similarly, the USB plug corresponding to the first speaker may be inserted into the second voice interface, so that the first speaker is connected to the first industrial computer.

[0065] It can be understood that the microphone array has spatial filtering characteristics. When the doctor's cart obtains the voice intercom information input by the user through the microphone array, it can use the spatial filtering characteristics of the microphone array to form a directional sound pickup beam and unify the unexpected noise of the beam to ensure the doctor's cart has a high sound pickup quality.

[0066] In some embodiments, the second interface includes a second voice interface and a second speaker interface; the second voice interface is used to connect a microphone; the second speaker interface is used to connect at least one second speaker; the microphone and the at least one second speaker are both second voice intercom components.

[0067] For example, the second voice interface may be a 3.5mm interface, and the second speaker interface may be a USB interface. In actual application scenarios, the 3.5mm plug corresponding to the microphone may be inserted into the second voice interface, so that the microphone is connected to the second industrial computer. Similarly, the USB plug corresponding to the second speaker may be inserted into the second voice interface, so that the second speaker is connected to the second industrial computer.

[0068] It can be understood that in the embodiment of the present application, the first voice interface and the second voice interface are 3.5mm interfaces, and the first speaker interface and the second speaker interface are USB interfaces, so that the interfaces are universal. In this way, the selection of microphones and speakers is diverse and rich, and the intercom quality of the microphone and speaker can be improved by changing the parameter configuration of the microphone and speaker themselves, such as using an external noise reduction processing module or power amplifier board, thereby improving the effect of voice intercom.

[0069] In some embodiments, the pickup may be a noise cancelling pickup.

[0070] It is understandable that the patient trolley can meet the patient's long-distance, all-round, high-quality sound pickup scene requirements through the noise reduction microphone.

[0071] In some embodiments, the first industrial computer and the second industrial computer both include a voice processing module; the voice processing module is used to perform voice enhancement processing on the voice intercom information machine. The voice processing module includes a gain control unit, a noise reduction unit, and a dereverberation unit. The gain control unit is used to perform gain control processing on the voice intercom information to obtain a first voice signal; the noise reduction unit is used to perform noise reduction processing on the first voice signal to obtain a second voice signal; the dereverberation unit is used to perform dereverberation processing on the second voice signal to obtain new voice intercom information.

[0072] The first industrial computer and / or the second industrial computer obtains the voice intercom information through the corresponding first voice intercom component, performs voice enhancement processing on the voice intercom information through the corresponding voice processing module to obtain new voice intercom information, and transmits the new voice intercom information based on the Ethernet link.

[0073] Exemplarily, when the operator of the doctor's cart needs to conduct a voice conversation with the operator of the patient's cart, the first industrial computer can obtain the voice conversation information input by the operator of the doctor's cart through the microphone array plugged into the first voice interface, and then perform voice enhancement processing on the voice conversation information input by the operator of the doctor's cart through the voice processing module in the first industrial computer to obtain new voice conversation information; after obtaining the new voice conversation information, the first industrial computer inputs the new voice conversation information into the first photoelectric conversion module, so that the first photoelectric conversion module performs photoelectric conversion on the new voice conversation information; the new voice conversation information after photoelectric conversion will be transmitted to the image platform through the Ethernet link between the first photoelectric conversion module and the third photoelectric conversion module, and then transmitted to the second industrial computer through the third photoelectric conversion module, the third industrial computer and the fourth photoelectric conversion module, and the Ethernet link between the second photoelectric conversion module and the fourth photoelectric conversion module, and the second industrial computer outputs the corresponding new voice conversation information output by the doctor's cart through the second speaker plugged into the second speaker interface. When the operator of the patient cart needs to have a voice intercom with another operator of the patient cart, the same applies when the operator of the doctor cart needs to have a voice intercom with the operator of the patient cart. That is, the second industrial computer can obtain the voice intercom information input by the operator of the patient cart through the microphone plugged into the second voice interface, and then the voice processing module in the second industrial computer performs voice enhancement processing on the voice intercom information input by the operator of the patient cart to obtain the corresponding new voice intercom information; then the corresponding new voice intercom information is transmitted to the doctor cart through the Ethernet link, and the first industrial computer outputs the corresponding new voice intercom information output by the patient cart through the first speaker plugged into the first speaker interface. I will not go into details here.

[0074] In some embodiments, the first industrial computer and / or the second industrial computer includes a recording module, which is used to obtain a recording signal to be processed, filter the recording signal to be processed based on a reference signal, obtain a target recording signal, and store the target recording signal.

[0075] The to-be-processed recording signal refers to the unprocessed speech signal that needs to be saved; the target recording signal refers to the to-be-processed recording signal after filtering.

[0076] Exemplarily, the first industrial computer may include a recording module, and the recording module of the first industrial computer may obtain the recording signal to be processed, and filter the recording signal to be processed based on a reference signal to obtain a target recording signal, and store the target recording signal to realize the recording function; the second industrial computer may include a recording module, and the recording module of the second industrial computer may obtain the recording signal to be processed, and filter the recording signal to be processed based on a reference signal to obtain a target recording signal, and store the target recording signal to realize the recording function; the first industrial computer and the second industrial computer may both include recording modules, and according to user needs, the recording function may be realized by the recording module of the first industrial computer and / or the recording module of the second industrial computer.

[0077] In some embodiments, when the recording module stores the target recording signal, the target recording signal may be stored in a corresponding memory, or the target recording signal may be uploaded to the cloud for storage. This embodiment of the present application does not limit this.

[0078] In some embodiments, the doctor's trolley includes a first operating screen, which is linked to a first industrial computer; the patient's trolley includes a second operating screen, and a second operating ticket is linked to a second industrial computer.

[0079] The first operation screen and the second operation screen can both be touch screens. The first operation screen can be set on the armrest of the doctor's trolley, and the second operation screen can be set on the tiller of the patient's trolley. In this way, it is convenient for the user to touch the operation screen (such as the first operation screen and the second operation screen) to trigger the selection operation of the control on the operation screen.

[0080] Exemplarily, the operator of the doctor's trolley can touch the first operation screen to trigger the selection operation of the control displayed on the first operation screen, and the first industrial computer can perform corresponding actions according to the selection operation of the control triggered by the user. For example, the operator of the doctor's trolley can touch the first operation screen to trigger the selection operation of the control in the UI interface displayed on the first operation screen, and the first industrial computer can adjust the volume of the microphone array or the first speaker according to the selection operation of the control triggered by the user; it can also mute the control according to the selection operation of the control triggered by the user; it can also control the recording module to record according to the selection operation of the control triggered by the user. In this way, the actual use needs of the operator for the voice intercom function during the operation can be met, so that the medical robot is suitable for more scenarios and the applicability of the medical robot is improved.

[0081] In some embodiments, Figure 1 As shown, the industrial computer of the doctor's trolley (also referred to as the first industrial computer), the armrest touch screen (also referred to as the first operation screen) and the photoelectric converter of the doctor's trolley (also referred to as the first photoelectric conversion module) can all be set in the electric control box of the doctor's trolley. The microphone array, the left speaker and the right speaker can be set on the doctor's trolley as required, and this embodiment of the application does not limit this. Figure 1 In the embodiment, a microphone array and at least one first speaker are arranged on a stereo monitor assembly of a doctor's trolley; wherein the at least one first speaker includes a left speaker and a right speaker.

[0082] Continue as Figure 1 As shown, the industrial computer of the patient trolley (also referred to as the second industrial computer), the tiller touch screen (also referred to as the second operation screen) and the photoelectric converter of the patient trolley (also referred to as the second photoelectric conversion module) can all be arranged in the electric control box of the patient trolley. The microphone and at least one second speaker can be arranged on the patient trolley as required, and this embodiment of the application does not limit this. Figure 1 In the embodiment, the microphone, the left speaker and the right speaker are arranged on the column assembly of the patient trolley. Wherein, at least one second speaker includes the left speaker and the right speaker.

[0083] Continue as Figure 1 As shown, the industrial computer of the imaging trolley (also referred to as the third industrial computer) and the photoelectric converter of the imaging trolley (also referred to as the third photoelectric conversion module and the fourth photoelectric conversion module) can be arranged in the electric control box of the imaging trolley.

[0084] In some embodiments, the first industrial computer and the second industrial computer further include an alarm module, and the alarm module is used to output an alarm signal. When the alarm module outputs an alarm signal, the first speaker and / or the second speaker will output a corresponding alarm prompt broadcast.

[0085] Figure 2 A flow chart of a voice intercom processing method is shown below. Figure 2 , the voice intercom processing method provided in the embodiment of the present application is described. It should be noted that the voice intercom processing method provided in the embodiment of the present application is applied to the medical robot in the above embodiment. Figure 2 As shown, an embodiment of the present application provides a debugging method for a medical robot, and the debugging method for a medical robot includes S201-S203.

[0086] S201. The doctor's cart obtains voice intercom information input by the user through the first voice intercom component.

[0087] For example, Figure 1 As shown, the first voice intercom component is plugged into the first interface of the first industrial computer in the doctor's trolley. The doctor's trolley obtains the voice intercom information input by the user through the microphone array in the first voice intercom component plugged into the first voice interface.

[0088] S202: The doctor's trolley performs voice enhancement processing on the voice intercom information through the first industrial computer in the doctor's trolley to obtain new voice intercom information.

[0089] In some embodiments, the doctor's cart performs voice enhancement processing on the voice intercom information through the first industrial computer in the doctor's cart to obtain new voice intercom information, which may include: first performing gain control processing on the voice intercom information through the first industrial computer to obtain a first voice signal; then, performing noise reduction processing on the first voice signal through the first industrial computer to obtain a second voice signal; finally, performing dereverberation processing on the second voice signal through the first industrial computer to obtain new voice intercom information.

[0090] In some embodiments, the first voice signal is voice intercom information that has been processed by gain control. The second voice signal is voice intercom information that has been processed by gain control and noise reduction. The new voice intercom information is voice intercom information that has been processed by gain control, noise reduction, and dereverberation.

[0091] Exemplarily, the first voice signal can be obtained by performing gain control processing on the voice intercom information obtained by the doctor's trolley through the first industrial computer. The second voice signal can be obtained by performing gain control processing and noise reduction processing on the voice intercom information obtained by the doctor's trolley through the first industrial computer. New voice intercom information can be obtained by performing gain control processing, noise reduction processing and dereverberation processing on the voice intercom information obtained by the doctor's trolley through the first industrial computer.

[0092] It should be noted that, in actual applications, the voice intercom information can be processed in the processing order of gain control processing, noise reduction processing, and dereverberation processing to obtain new voice intercom information, and the voice intercom information can be processed in the processing order of noise reduction processing, gain control processing, and dereverberation processing to obtain new voice intercom information, and the voice intercom information can be processed in the processing order of dereverberation processing, gain control processing, and noise reduction processing to obtain new voice intercom information. The embodiments of the present application are not limited to this.

[0093] Exemplarily, if the voice intercom information is processed in the order of dereverberation processing, gain control processing and noise reduction processing to obtain new voice intercom information, the first voice signal is the voice intercom information after dereverberation processing, the second voice signal is the voice intercom information after dereverberation processing and gain control processing, and the new voice intercom information is the voice intercom information after reverberation processing, gain control processing and noise reduction processing.

[0094] In some embodiments, the dereverberation process can be implemented by a multi-channel linear adaptive dereverberation algorithm. In this way, by directly using the array acquisition signal to initialize the target signal covariance based on the multi-channel linear adaptive dereverberation algorithm, the performance of speech dereverberation is further enhanced to meet the doctor's close-range, directional, high-quality sound pickup scene requirements.

[0095] In some embodiments, the algorithms in the first industrial computer of the doctor's cart can be upgraded and updated as needed to improve the voice enhancement processing effect of the first industrial computer of the doctor's cart on the voice intercom information.

[0096] S203. The doctor's cart outputs new voice intercom information via the Ethernet link.

[0097] like Figure 3 As shown, the voice intercom processing method provided in the embodiment of the present application also includes S301-S302.

[0098] S301. The patient cart receives new voice intercom information output by the doctor cart via the Ethernet link.

[0099] S302: The patient cart plays new voice intercom information through the second voice intercom component.

[0100] The second voice intercom component is plugged into the second interface of the second industrial computer in the patient trolley. After the patient trolley receives the new voice intercom information output by the doctor trolley through the Ethernet link, the new voice intercom information is played through the second speaker in the second voice intercom component.

[0101] In some embodiments, the transmission of the voice intercom signal between the patient cart and the doctor cart is similar to the transmission of the voice signal between the doctor cart and the patient cart, that is, the patient cart obtains the voice intercom information, performs voice enhancement processing on the voice intercom information, obtains new voice intercom information, and transmits the new voice intercom information to the doctor cart via the Ethernet link. After the doctor cart receives the new voice intercom information via the Ethernet link, it plays the new voice intercom information through the first speaker in the first voice intercom component. The method by which the patient cart performs voice enhancement processing on the voice intercom information obtained by the patient cart through the microphone can be the same as the method by which the doctor and the patient perform voice enhancement processing on the voice intercom information obtained by the doctor and the patient through the microphone array, and will not be repeated here.

[0102] It can be understood that in the embodiment of the present application, during the voice intercom process, the doctor's cart and the patient's cart are bridged by the image cart, and the industrial computers of the doctor's cart and the patient's cart are connected through an Ethernet link. The image cart industrial computer can be used as a voice server to realize the transmission of the voice stream of the doctor's cart and the patient's cart, and by performing voice enhancement processing on the acquired voice intercom information, the quality of the voice intercom between the doctor's cart and the patient's cart can be guaranteed, thereby ensuring high-quality voice intercom function during the operation.

[0103] In some embodiments, the voice intercom processing method provided in the embodiments of the present application also includes: obtaining the recording signal to be processed through the first industrial computer in the doctor's cart and / or the second industrial computer in the patient's cart, and filtering the recording signal to be processed based on the reference signal to obtain the target recording signal, and storing the target recording signal.

[0104] In some embodiments, the reference signal is a preset voice signal.

[0105] For example, during real-time intercom between the doctor's cart and the patient's cart, when playback and recording are carried out simultaneously, the sound of the speaker will be picked up by the microphone, thus forming an echo and affecting the recording quality. At this time, accessing the reference signal and filtering the recording signal can eliminate the impact of the device's own playback on voice interaction, improve the signal-to-noise ratio, realize real-time voice interaction and interruption, and achieve the purpose of echo cancellation.

[0106] In some embodiments, the voice intercom processing method provided in the embodiment of the present application further includes:

[0107] The first industrial computer of the doctor's trolley responds to the user's selection operation on the control triggered by the first operation screen on the doctor's trolley, determines the function to be executed, and executes the action corresponding to the function to be executed, and / or the second industrial computer of the patient's trolley responds to the user's selection operation on the control triggered by the second operation screen on the patient's trolley, determines the function to be executed, and executes the action corresponding to the function to be executed.

[0108] In some embodiments, the function to be executed includes at least adjusting the volume of a microphone (eg, a microphone array, a pickup) or a speaker (eg, a first speaker or a second speaker), a mute setting, and recording.

[0109] It is understandable that during the operation, the operator can set the volume and mute the microphone and speaker in the voice intercom by operating the first operation screen and / or the second operation screen, thereby meeting the operator's actual use needs of the voice intercom function during the operation.

[0110] In some embodiments, the first industrial computer and the second industrial computer can perform voice enhancement processing on the voice intercom information through the voice processing module, and the voice processing module, the recording module and the alarm module can be embedded in the first industrial computer and the second industrial computer in the form of software. In this way, the operator can set the voice intercom parameters by operating the first operation screen and the second operation screen, and configuring the first industrial computer and the second industrial computer, so that the components are not easily affected by external interference and hardware failure; for example, when the parameter adjustment serial port cable is routed through the drag chain, as time goes by, the cable damage will not affect the parameter adjustment function.

[0111] Corresponding to the above-mentioned embodiment of the voice intercom processing method, the present application also provides an embodiment of the voice intercom processing device.

[0112] Reference Figure 4 The embodiment of the present application also provides a voice intercom processing device, including:

[0113] The acquisition module 41 is used to acquire the voice intercom information input by the user;

[0114] The processing module 42 is used to perform voice enhancement processing on the voice intercom information to obtain new voice intercom information;

[0115] The transmission module 43 is used to transmit new voice intercom information via an Ethernet link.

[0116] In some embodiments, the voice intercom processing device further includes: a receiving module for receiving new voice intercom information via an Ethernet link.

[0117] The playback module is used to play new voice intercom information.

[0118] In some embodiments, the voice intercom processing device provided in the embodiments of the present application also includes a recording module, which is used to obtain a recording signal to be processed, and filter the recording signal to be processed based on a reference signal to obtain a target recording signal, and store the target recording signal.

[0119] like Figure 5 As shown, an electronic device provided in an embodiment of the present application may include: a processor (processor) 510, a communication interface (Communications Interface) 520, a memory (memory) 530 and a communication bus 540, wherein the processor 510, the communication interface 520, and the memory 530 communicate with each other through the communication bus 540. The processor 510 can call the logic instructions in the memory 530 to execute the above methods.

[0120] In addition, the logic instructions in the above-mentioned memory 530 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the switchgear mechanical state monitoring method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0121] In yet another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented to perform the above methods when executed by a processor.

[0122] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0123] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0124] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A medical robot, comprising a doctor trolley, a patient trolley and an imaging trolley, characterized in that: The doctor's trolley includes a first industrial computer and a first photoelectric conversion module; the first photoelectric conversion module is connected to the first industrial computer via a network cable; the first industrial computer is provided with a first interface; the first interface is used to connect to a first voice intercom component; The patient trolley includes a second industrial computer and a second photoelectric conversion module; the second photoelectric conversion module is connected to the second industrial computer via a network cable; the second industrial computer is provided with a second interface; wherein the second interface is used to connect to a second voice intercom component; the first voice intercom component and the second voice intercom component are both used to receive voice intercom information or play the voice intercom information; The imaging vehicle comprises a third photoelectric conversion module, a third industrial computer and a fourth photoelectric conversion module; the third photoelectric conversion module and the fourth photoelectric conversion module are respectively connected to the third industrial computer via a network cable; The first photoelectric conversion module and the third photoelectric conversion module, as well as the second photoelectric conversion module and the fourth photoelectric conversion module are all connected based on an Ethernet link, and the Ethernet link is used to transmit the voice intercom information.

2. The medical robot according to claim 1, characterized in that: The first interface includes a first voice interface and a first speaker interface; the first voice interface is used to connect to the microphone array in the first voice intercom component; the first speaker interface is used to connect to at least one first speaker in the first voice intercom component.

3. The medical robot according to claim 2, characterized in that: The second interface includes a second voice interface and a second speaker interface; the second voice interface is used to connect the microphone in the second voice intercom component; the second speaker interface is used to connect at least one second speaker in the second voice intercom component.

4. The medical robot according to claim 2 or 3, characterized in that: The first voice interface and / or the second voice interface include a 3.5mm interface; the first speaker interface and / or the second speaker interface include a USB interface.

5. The medical robot according to claim 1, characterized in that: The first industrial computer and / or the second industrial computer includes a recording module, which is used to obtain a recording signal to be processed, filter the recording signal to be processed based on a reference signal, obtain a target recording signal, and store the target recording signal.

6. The medical robot according to claim 1, characterized in that: The first industrial computer and the second industrial computer both include a voice processing module; The voice processing module is used to perform voice enhancement processing on the voice intercom information machine.

7. The medical robot according to claim 6, characterized in that: The speech processing module comprises: A gain control unit, used for performing gain control processing on the voice intercom information to obtain a first voice signal; A noise reduction unit, configured to perform noise reduction processing on the first speech signal to obtain a second speech signal; The dereverberation unit is used to perform dereverberation processing on the second voice signal to obtain new voice intercom information.

8. A method for processing voice intercom, characterized in that: Applied to a medical robot, the medical robot comprises a doctor trolley, a patient trolley and an imaging trolley, wherein the doctor trolley and the imaging trolley, and the imaging trolley and the patient trolley communicate based on an Ethernet link; The method comprises: The doctor's trolley obtains the voice intercom information input by the user through the first voice intercom component; the first voice intercom component is plugged into the first interface of the first industrial computer in the doctor's trolley; The doctor's trolley performs voice enhancement processing on the voice intercom information through the first industrial computer to obtain new voice intercom information; The doctor's cart outputs the new voice intercom information via the Ethernet link.

9. The voice intercom processing method according to claim 8, characterized in that: The method further comprises: The patient cart receives the new voice intercom information output by the doctor cart through the Ethernet link; The patient cart plays the new voice intercom information through a second voice intercom component; the second voice intercom component is plugged into a second interface on a second industrial computer in the patient cart.

10. The voice intercom processing method according to claim 8, characterized in that: The method further comprises: The first industrial computer in the doctor's cart and / or the second industrial computer in the patient cart obtain the recording signal to be processed, and the first industrial computer and / or the second industrial computer filter the recording signal to be processed based on the reference signal to obtain the target recording signal, and store the target recording signal.

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