Wearable device and method for master-slave end control of medical robot

Abstract

The invention provides a wearable device and method for master-slave end control of a medical robot, and can be applied to the field of medical instruments and the field of mechanical control. The method comprises the steps that a sleeve body comprises a positioning structure, and the sleeve body is configured to be fixedly arranged on the upper limb of a controller based on the positioning structure; the plurality of electronic skins are configured to be attached to the inner side of the sleeve body based on position distribution of a plurality of muscle groups on the upper limb of the controller, the plurality of electronic skins correspond to the plurality of muscle groups respectively, and the plurality of electronic skins are configured to collect first electromyographic signals of the corresponding muscle groups respectively; and the control module is configured to generate a control signal aiming at the slave end equipment based on the first electromyographic signals respectively acquired by the plurality of electronic skins.

Description

Technical Field

[0001] The present disclosure relates to the field of medical devices and mechanical control, and more specifically, to a wearable device and method for master-slave control of a medical robot. Background Art

[0002] With the rapid development of minimally invasive surgical techniques and medical devices, the coverage of surgical robots in major hospitals has gradually increased. Robotic surgery in clinical practice has the advantages of small incisions, low infection resistance, and smooth operation, and has broad market prospects. In related technologies, most commercial surgical robots use a master-slave operation method, where doctors operate the master hand console to drive the slave mechanical arm or endoscope to complete the corresponding movement.

[0003] In the process of realizing the concept of the present disclosure, there are at least the following problems in the related technology: the control method in the related technology is relatively complicated to operate, and the operating experience accumulated by doctors in traditional surgery is difficult to apply to robotic surgery, and they still need to receive long-term training to improve their proficiency before clinical operation. Summary of the invention

[0004] In view of this, the present disclosure provides a wearable device and method for master-slave control of a medical robot.

[0005] One aspect of the present disclosure provides a wearable device for master-slave control of a medical robot, comprising: a sleeve including a positioning structure, the sleeve being configured to be fixedly arranged on the upper limb of a controller based on the positioning structure; a plurality of electronic skins being configured to be attached to the inner side of the sleeve based on the position distribution of a plurality of muscle groups at the upper limb of the controller, the plurality of electronic skins corresponding to each of the plurality of muscle groups, each of the plurality of electronic skins being configured to collect a first electromyographic signal of the corresponding muscle group; and a control module being configured to generate a control signal for a slave device based on the first electromyographic signal collected by each of the plurality of electronic skins.

[0006] According to an embodiment of the present disclosure, the electronic skin includes a base layer, a conductive layer and an adhesive layer; wherein the base layer is configured to contact the skin of the controller; the conductive layer includes an electrode pattern, the electrode pattern is configured to form a plurality of electromyographic electrodes, the electromyographic electrodes are configured to collect a first electromyographic signal of a muscle group; and the adhesive layer is configured to adhere the electronic skin to the inner side of the sleeve.

[0007] According to an embodiment of the present disclosure, the inner side of the sleeve is configured to be provided with a plurality of attachment areas, and the plurality of attachment areas are configured to be provided based on the positioning structure and the position distribution of a plurality of muscle groups at the upper limbs of the controller; the adhesive layer is configured to adhere the electronic skin to the inner side of the sleeve based on the attachment areas.

[0008] According to an embodiment of the present disclosure, the control module includes a flexible circuit and a host computer; wherein the flexible circuit is configured to be attached to the outer side of the sleeve, the flexible circuit is configured to process the first electromyographic signals collected by each of the plurality of electronic skins to obtain a plurality of second electromyographic signals; and the host computer is configured to generate the control signal based on the plurality of second electromyographic signals.

[0009] According to an embodiment of the present disclosure, the above-mentioned host computer is configured to perform pattern matching based on the multiple second electromyographic signals to determine the target actions corresponding to the multiple second electromyographic signals, and use a decoding model related to the above-mentioned target actions to decode and process the multiple second electromyographic signals to obtain control parameters for the above-mentioned slave device, and then generate the above-mentioned control signal based on the above-mentioned control parameters.

[0010] According to an embodiment of the present disclosure, the host computer is configured to input the plurality of second electromyographic signals into a residual network based on channel attention to obtain joint motion information, and then generate the control signal based on the joint motion information.

[0011] According to an embodiment of the present disclosure, the above-mentioned flexible circuit includes a multi-pole amplification unit, a filtering unit, a voltage processing unit and an analog-to-digital conversion unit; wherein the above-mentioned multi-pole amplification unit is configured to amplify the above-mentioned first electromyographic signal to obtain a first intermediate signal; the above-mentioned filtering unit is configured to perform band-pass filtering on the above-mentioned first intermediate signal to obtain a second intermediate signal; the above-mentioned voltage processing unit is configured to perform voltage modulation on the above-mentioned second intermediate signal to obtain a third intermediate signal; and the above-mentioned analog-to-digital conversion unit is configured to sample the above-mentioned third intermediate signal to obtain the above-mentioned second electromyographic signal.

[0012] According to an embodiment of the present disclosure, the flexible circuit further includes a power supply and an electrical stimulation unit; the electrical stimulation unit is configured to switch on the power supply in response to receiving a feedback signal from the control module to generate an electrical stimulation signal.

[0013] According to an embodiment of the present disclosure, the electronic skin further comprises a plurality of electrical stimulation electrodes; the electrical stimulation electrodes are configured to apply electrical stimulation to the muscle groups of the controller based on the electrical stimulation signal so that the controller can perceive the tactile information of the slave device.

[0014] Another aspect of the present disclosure provides a master-slave control method for a medical robot, which is applied to any of the above-mentioned wearable devices, and the method includes: obtaining first electromyographic signals of multiple muscle groups at the upper limbs of a controller through multiple electronic skins; and generating a control signal for the slave device based on the multiple first electromyographic signals.

[0015] According to the embodiments of the present disclosure, the wearable device used for the master-slave control of the medical robot is configured with the part with the electronic skin on the upper limb of the controller to obtain the first electromyographic signal, that is, the physiological signal of multiple muscle groups of the upper limb of the controller, and the control module decodes the first electromyographic signal to obtain the control signal of the slave device to control the slave device to perform the corresponding surgical operation. The wearable device used for the master-slave control of the medical robot directly senses the body movements of the controller's upper limbs and performs corresponding operations, thereby improving the controller's control experience during surgery, allowing the controller to apply the experience accumulated in traditional surgery to robotic surgery, and reducing the time cost for preliminary training. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The above and other objects, features and advantages of the present disclosure will become more apparent through the following description of the embodiments of the present disclosure with reference to the accompanying drawings, in which:

[0017] Figure 1 The application scenario diagram of a wearable device for master-slave control of a medical robot according to an embodiment of the present disclosure is schematically shown.

[0018] Figure 2 A schematic diagram of a wearable device for master-slave control of a medical robot according to an embodiment of the present disclosure is schematically shown.

[0019] Figure 3 A schematic diagram of an electronic skin according to an embodiment of the present disclosure is schematically shown.

[0020] Figure 4 A schematic diagram of a wearable device for master-slave control of a medical robot according to another embodiment of the present disclosure is schematically shown.

[0021] Figure 5 The figure schematically shows a schematic diagram of preprocessing the first electromyographic signal according to an embodiment of the present disclosure.

[0022] Figure 6 The working principle diagram of a wearable device for master-slave control of a medical robot according to another embodiment of the present disclosure is schematically shown.

[0023] Figure 7 The flowchart of the master-slave control method for a medical robot according to an embodiment of the present disclosure is schematically shown. DETAILED DESCRIPTION

[0024] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present disclosure. In the following detailed description, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of the embodiments of the present disclosure. However, it is apparent that one or more embodiments may also be implemented without these specific details. In addition, in the following description, descriptions of known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present disclosure.

[0025] The terms used herein are only for describing specific embodiments and are not intended to limit the present disclosure. The terms "comprise", "include", etc. used herein indicate the existence of the features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0026] All terms (including technical and scientific terms) used herein have the meanings commonly understood by those skilled in the art unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

[0027] When using expressions such as "at least one of A, B, and C, etc.", they should generally be interpreted according to the meaning of the expression commonly understood by those skilled in the art (for example, "a system having at least one of A, B, and C" should include but is not limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.).

[0028] In the embodiments of the present disclosure, the collection, updating, analysis, processing, use, transmission, provision, disclosure, storage, etc. of the data involved (for example, including but not limited to user personal information) are in compliance with the provisions of relevant laws and regulations, are used for legitimate purposes, and do not violate public order and good morals. In particular, necessary measures are taken for user personal information to prevent illegal access to user personal information data and maintain the security of user personal information, network security, and national security.

[0029] In the embodiments of the present disclosure, the user's authorization or consent is obtained before obtaining or collecting the user's personal information.

[0030] The mechanical structure required by the control method in the related technology is complex, which increases the weight and floor space of the surgical robot, thus affecting the placement of the equipment in the surgical space. In addition, the operating experience accumulated by doctors in traditional surgery is difficult to apply to operations performed by surgical robots. For example, the doctor's surgical operation feel and strength in traditional surgery are difficult to apply to operations performed by surgical robots. Before clinical operations, doctors still need to receive long-term training to improve their proficiency.

[0031] Based on this, in response to the problems existing in the related technology, the embodiments of the present disclosure provide a wearable device and method for master-slave control of a medical robot, wherein the wearable device for master-slave control of a medical robot comprises: a sleeve, including a positioning structure, the sleeve is configured to be fixedly set on the upper limb of a controller based on the positioning structure; a plurality of electronic skins are configured to be attached to the inner side of the sleeve based on the position distribution of a plurality of muscle groups at the upper limb of the controller, the plurality of electronic skins respectively correspond to the plurality of muscle groups, and the plurality of electronic skins are respectively configured to collect a first electromyographic signal of the corresponding muscle group; and a control module, configured to generate a control signal for the slave device based on the first electromyographic signal collected by each of the plurality of electronic skins.

[0032] Figure 1 The following schematically shows an application scenario diagram of a wearable device for master-slave control of a medical robot according to an embodiment of the present disclosure. It should be noted that: Figure 1 What is shown is only an example of an application scenario of the wearable device of the embodiment of the present disclosure, to help those skilled in the art understand the technical content of the present disclosure, but it does not mean that the embodiment of the present disclosure cannot be used in other devices, environments or scenarios.

[0033] like Figure 1 As shown, the application scenario 100 according to this embodiment at least includes a first master-end device 101 , a second master-end device 102 , a communication link 103 and a slave-end device 104 .

[0034] The first master device 101 may include a wearable device for the master-slave control of the medical robot, and the second master device 102 may include a display for displaying images during surgery, wherein the second master device 102 may also include other observation devices for viewing the current progress of the surgery, such as wearable glasses for observing the surgical status, etc. The slave device 104 refers to a medical robot, which may include various types of robotic arms or endoscopes for performing surgery.

[0035] The first master device 101 and the slave device 104, and the second master device 102 and the slave device 104 can be connected via a communication medium such as a communication link 103. The communication link 103 includes various connection types, such as a wired and / or wireless communication link 103, etc. In this scenario, preferably, a wired communication link 103 is used. The slave device 104 performs corresponding movements by receiving control signals from the wearable device controlled by the master and slave ends of the medical robot.

[0036] It should be noted that the application scenarios of the embodiments of the present disclosure are only illustrative, wherein the number of devices and communication methods may include any number according to implementation requirements. In particular, the second master-end device 102 may include a wearable device for the medical robot master-slave end control of the right arm, and a wearable device for the medical robot master-slave end control of the left arm.

[0037] Figure 2 A schematic diagram of a wearable device for master-slave control of a medical robot according to an embodiment of the present disclosure is schematically shown.

[0038] It should be noted that Figure 2 Only the schematic architecture of the wearable device for the master-slave control of the medical robot is schematically shown, and the specific implementation methods such as the shape of the wearable device for the master-slave control of the medical robot are not fully shown.

[0039] like Figure 2 As shown, the wearable device for the master-slave control of the medical robot includes a sleeve 201, a plurality of electronic skins 202 and a control module 203. The sleeve 201 includes a positioning structure, and the sleeve 201 is configured to be fixedly arranged on the upper limb of the controller based on the positioning structure. The sleeve 201 can be made of breathable fabric, which is easy to wear, thin and breathable as a whole, and has stretchability to fit the skin, does not affect the normal movement of the arm, and can meet the needs of long-term surgery.

[0040] The positioning structure is used to fix the sleeve 201 on the controller, so that multiple electronic skins 202 can collect the first electromyographic signal of the fixed muscle group, wherein the first electromyographic signal is an analog signal used to characterize the movement characteristics of multiple muscle groups of the controller's upper limbs. The positioning structure can include multiple forms. For example, the sleeve 201 can have a hollow structure, which can correspond to the elbow. By positioning the controller's elbow, the setting position of the sleeve 201 can be fixed. For another example, the sleeve 201 can have an extended strap, which is used to fix the sleeve 201 with multiple electronic skins 202 on the controller through the strap to prevent the sleeve 201 from slipping.

[0041] Multiple electronic skins 202 are configured to be attached to the inner side of the sleeve 201 based on the position distribution of multiple muscle groups in the upper limbs of the controller. The multiple electronic skins 202 correspond to the multiple muscle groups respectively, and each of the multiple electronic skins 202 is configured to collect the first electromyographic signal of the corresponding muscle group. The multiple muscle groups may include flexor muscles of the digitorum, extensor muscles of the digitorum, extensor carpi radialis, flexor carpi radialis, etc., which are not limited here.

[0042] The muscle groups may include muscle groups in multiple parts of the controller's hand, forearm and upper arm. The electronic skin 202 is used to collect the first pole signal from the controller's upper limb. The first electromyographic signal represents the electromyographic signal of the human body surface collected by multiple electronic skins 202, wherein the electromyographic signal is the superposition of the action potential of the motor unit in many muscle fibers in time and space.

[0043] The inner side of the sleeve 201 may be provided with a plurality of installation positions of the electronic skin 202. When the electronic skin 202 is replaced, the electronic skin 202 may be pasted based on the installation position. Since each movement of the arm or hand of the controller during the operation is completed by a different muscle group, the first electromyographic signal of the corresponding muscle group is collected by each of the plurality of electronic skins 202, so that the accuracy of the subsequent control of the slave device can be improved.

[0044] The control module 203 is configured to generate a control signal for the slave device based on the first electromyographic signals collected by each of the plurality of electronic skins 202. The control signal is an electrical signal for transmission between machines.

[0045] According to the embodiments of the present disclosure, the wearable device used for the master-slave control of the medical robot is configured with the part with the electronic skin on the upper limb of the controller to obtain the first electromyographic signal, that is, the physiological signal of multiple muscle groups of the upper limb of the controller, and the control module decodes the first electromyographic signal to obtain the control signal of the slave device to control the slave device to perform the corresponding surgical operation. The wearable device used for the master-slave control of the medical robot directly senses the body movements of the controller's upper limbs and performs corresponding operations, thereby improving the controller's control experience during surgery, allowing the controller to apply the experience accumulated in traditional surgery to robotic surgery, and reducing the time cost for preliminary training.

[0046] According to an embodiment of the present disclosure, the electronic skin includes a base layer, a conductive layer and an adhesive layer; wherein the base layer is configured to contact the skin of the controller; the conductive layer includes an electrode pattern, the electrode pattern is configured to form a plurality of electromyographic electrodes, the electromyographic electrodes are configured to collect first electromyographic signals of muscle groups; and the adhesive layer is configured to adhere the electronic skin to the inner side of the sleeve.

[0047] According to the embodiments of the present disclosure, the base layer can be made of stretchable insulating materials such as polydimethylsiloxane (PDMS), which is easy to process and has good transparency and biocompatibility. In actual use, the sleeve body uses a breathable material, but the controller may secrete sweat due to a long operation time or other reasons. The base layer reduces the possibility of the electronic skin failing due to contact with sweat.

[0048] According to an embodiment of the present disclosure, the conductive layer may include an electromyographic electrode, and the electromyographic electrode may be processed by laser, printed, or the like to obtain an electrode pattern having a certain degree of stretchability, wherein the electrode pattern may be a serpentine line. During actual operation, the controller may exert forces of different angles and amplitudes on the electromyographic electrode, and the probability of damage to the electromyographic electrode may be reduced by providing an electrode pattern having a certain degree of stretchability. The adhesive layer may be made of medical double-sided tape, and the adhesive layer may be waterproof to further prevent the electrode from falling off.

[0049] Figure 3 A schematic diagram of an electronic skin according to an embodiment of the present disclosure is schematically shown.

[0050] like Figure 3 As shown, the electronic skin includes a base layer 301, a conductive layer 302 and an adhesive layer 303; wherein the base layer 301 is configured to contact the skin of the controller, and the base layer 301 can adopt a hollow structure; the conductive layer 302 includes an electrode pattern, wherein the electrode pattern can be an S-shaped line, and the electrode pattern is configured to form a plurality of electromyographic electrodes, and the electromyographic electrodes are configured to collect the first electromyographic signals of the muscle groups; and the adhesive layer 303 is configured to adhere the electronic skin to the inner side of the sleeve.

[0051] According to an embodiment of the present disclosure, the conductive layer is used to collect and transmit the first electromyographic signal, and the adhesive layer is used to adhere the conductive layer disposed on the base layer to the inner side of the sleeve, thereby providing support and flexibility for the conductive layer, thereby improving the accuracy of controlling the slave device and the user experience of the controller.

[0052] According to an embodiment of the present disclosure, the inner side of the sleeve is configured to be provided with a plurality of attachment areas, and the plurality of attachment areas are configured to be arranged based on the position distribution of the positioning structure and a plurality of muscle groups at the upper limbs of the controller; the adhesive layer is configured to adhere the electronic skin to the inner side of the sleeve based on the attachment areas.

[0053] According to the embodiments of the present disclosure, in order to more accurately collect the first electromyographic signal, a wearable device for the master-slave control of a medical robot can be customized for different controllers. By obtaining the position distribution of the muscle groups of the controller's upper limbs, multiple attachment areas are set to improve the acquisition accuracy, and the usage of the electronic skin can be reasonably set. The position distribution of the muscle groups can be determined through the controller's medical images and anatomical data. Before each use, only the electronic skin needs to be replaced, without replacing the entire device, which improves the convenience of the solution.

[0054] According to an embodiment of the present disclosure, an attachment area for the electronic skin is provided on the inner side of the sleeve. When the electronic skin is replaced, the electronic skin can be pasted based on the installation position, so that the controller or other non-professionals can realize simple maintenance of the wearable device used for the master-slave control of the medical robot, thereby improving the maintainability of the wearable device used for the master-slave control of the medical robot.

[0055] According to an embodiment of the present disclosure, the control module includes a flexible circuit and a host computer; wherein the flexible circuit is configured to be attached to the outside of the sleeve, the flexible circuit is configured to perform signal processing on the first electromyographic signals collected by each of the multiple electronic skins to obtain multiple second electromyographic signals; and the host computer is configured to generate a control signal based on the multiple second electromyographic signals.

[0056] According to the embodiments of the present disclosure, during the operation, the controller can make multi-degree-of-freedom gestures such as finger flexion and extension, wrist flexion and extension, up and down cutting, internal and external rotation, etc. The flexible circuit is used to perform signal processing on the first electromyographic signals collected by multiple electronic skins, wherein the signal processing can be understood as the preprocessing of the first electromyographic signals, and the signal processing can include noise reduction on the first electromyographic signals to obtain multiple second electromyographic signals. The host computer can be a computer in various forms, which is used to decode the multiple second electromyographic signals and generate a control signal representing human body movement information, so as to transmit the control signal to the slave device and control the slave device to perform the corresponding action.

[0057] According to the embodiments of the present disclosure, the flexible circuit is arranged on the outside of the sleeve to shorten the distance between the flexible circuit and the electronic skin as much as possible, thereby reducing interference during signal transmission and improving the accuracy of the controller's control of the slave device, thereby improving the controller's control experience during surgery.

[0058] Optionally, the host computer may be configured to process the plurality of second electromyographic signals in a plurality of ways to generate a control signal.

[0059] For example, the host computer can be configured to input multiple second electromyographic signals into a residual network based on channel attention to obtain joint motion information, and then generate a control signal based on the joint motion information.

[0060] According to an embodiment of the present disclosure, the specific network structure of the residual network based on channel attention is not limited herein. Optionally, the residual network based on channel attention may include a plurality of deep bottleneck blocks connected in series, each of which may be composed of an attention module and a convolutional layer. The residual network based on channel attention may be trained using labeled electromyographic signal samples.

[0061] For another example, the host computer can be configured to perform pattern matching based on multiple second electromyographic signals to determine the target actions corresponding to the multiple second electromyographic signals, and use a decoding model related to the target action to decode and process the multiple second electromyographic signals to obtain control parameters for the slave device, and then generate a control signal based on the control parameters.

[0062] According to an embodiment of the present disclosure, the memory of the host computer may include a plurality of control parameters of the slave device corresponding to the second electromyographic signal, wherein the control parameters of the slave device are used to generate a control signal based on the control parameters, and the slave device implements the corresponding action. The host computer is configured to perform pattern matching based on the plurality of second electromyographic signals to determine the target action corresponding to the plurality of second electromyographic signals, for example, the plurality of second electromyographic signals of the controller's finger flexion and extension correspond to the opening and closing of the surgical instrument of the slave device; the plurality of second electromyographic signals of the controller's wrist rotation correspond to the rotation of the instrument axis of the slave device, etc.

[0063] According to an embodiment of the present disclosure, the decoding model may be pre-trained, and the decoding model is used to decode the second electromyographic signal and output a corresponding classification result, wherein the classification result is a control parameter for the slave device. The control parameter may include parameters in multiple aspects such as rotation angle, moving distance, and pressure coefficient. The control signal may be a digital signal, and the control parameter is used as a specific algorithm or function input to generate a corresponding control signal to ensure that the slave device can perform the corresponding action according to the control parameter.

[0064] Figure 4 A schematic diagram of a wearable device for master-slave control of a medical robot according to another embodiment of the present disclosure is schematically shown.

[0065] like Figure 4As shown, before the operation, the controller can flatly attach multiple electronic skins 202 to multiple muscle groups on the forearm, and connect the conductive layer to the flexible circuit 401 through the connector. Then wrap the sleeve 201 on the outside of the electronic skin 202, and adjust the binding belt to fix and tighten it, and adjust the position of the flexible circuit 401 and the sleeve 201. Before each use, only the electronic skin 202 needs to be replaced without replacing the whole, which improves the convenience of the solution. At the same time, since the sleeve 201 and the electronic skin 202 are configured separately, although the area of ​​the electronic skin 202 may be increased, controllers with different arm circumferences can use the wearable device for the master-slave control of the medical robot, which improves the universal applicability of the wearable device for the master-slave control of the medical robot, and then the controller's experience.

[0066] According to an embodiment of the present disclosure, the flexible circuit includes a multi-pole amplification unit, a filtering unit, a voltage processing unit and an analog-to-digital conversion unit; wherein the multi-pole amplification unit is configured to amplify the first electromyographic signal to obtain a first intermediate signal; the filtering unit is configured to perform bandpass filtering on the first intermediate signal to obtain a second intermediate signal; the voltage processing unit is configured to perform voltage modulation on the second intermediate signal to obtain a third intermediate signal; and the analog-to-digital conversion unit is configured to sample the third intermediate signal to obtain a second electromyographic signal. The second electromyographic signal is an analog signal.

[0067] According to an embodiment of the present disclosure, the amplitude of the first electromyographic signal is 0-1.5 mV, and the effective frequency is 10-500 Hz, so a multi-pole amplification unit is provided in the flexible circuit. The second intermediate signal represents the signal after the amplification processing of the first electromyographic signal. The first electromyographic signal is amplified by the multi-pole amplification unit to obtain the second intermediate signal, and preferably, the amplification factor can be set to 500 times.

[0068] According to an embodiment of the present disclosure, the filtering unit may select a Butterworth filter, with a high-pass cutoff frequency of 10 Hz and a low-pass cutoff frequency of 500 Hz. The first intermediate signal is subjected to bandpass filtering by the filtering unit to obtain a second intermediate signal.

[0069] According to an embodiment of the present disclosure, the voltage processing unit is used to raise or lower the voltage of the second intermediate signal to the working range of the analog-to-digital conversion unit. Since the voltage that can be generated by the first electromyography signal is generally lower than that of the analog-to-digital conversion unit, the voltage processing unit is generally used to raise the voltage of the second intermediate signal to the working range of the analog-to-digital conversion unit to obtain the third intermediate signal.

[0070] According to an embodiment of the present disclosure, the analog-to-digital conversion unit is used to convert an analog signal into a digital signal. The analog-to-digital conversion unit is configured to sample the third intermediate signal at a preset sampling rate and resolution to convert the third intermediate signal into a second electromyographic signal, so as to facilitate the subsequent transmission of the second electromyographic signal to a host computer for subsequent decoding by wire or wireless means, wherein the second electromyographic signal is a digital signal.

[0071] Figure 5 The figure schematically shows a schematic diagram of preprocessing the first electromyographic signal according to an embodiment of the present disclosure.

[0072] like Figure 5 As shown, the first electromyographic signal is input into the multi-pole amplifier unit 501 for signal amplification processing to obtain a first intermediate signal. The first intermediate signal is input into the filter unit 502 for filtering processing to obtain a second intermediate signal. The second intermediate signal is input into the voltage processing unit 503 for voltage modulation to obtain a third intermediate signal. The third intermediate signal is input into the analog-to-digital conversion unit 504 for sampling to obtain a second electromyographic signal.

[0073] According to an embodiment of the present disclosure, a second electromyographic signal is obtained by performing signal processing on the first electromyographic signal multiple times, thereby improving the accuracy and identifiability of the second electromyographic signal, so that the host computer can generate the control signal based on multiple second electromyographic signals, thereby improving the user experience of the controller.

[0074] According to an embodiment of the present disclosure, the flexible circuit further includes a power source and an electrical stimulation unit; the electrical stimulation unit is configured to switch on the power source in response to receiving a feedback signal from the control module to generate an electrical stimulation signal.

[0075] According to an embodiment of the present disclosure, the electrical stimulation unit is used to generate an electrical stimulation signal for providing a sense of touch to a controller. The control module is used to receive a tactile feedback signal from a terminal device, and the tactile feedback signal may include a pressure signal collected by a pressure sensor of the terminal device. The control module encodes the working feedback signal to obtain an electrical stimulation signal for providing a sense of touch. The power supply is used to provide current to the electrical stimulation unit.

[0076] According to an embodiment of the present disclosure, the electronic skin further includes a plurality of electrical stimulation electrodes; the electrical stimulation electrodes are configured to apply electrical stimulation to the muscle groups of the controller based on the electrical stimulation signal so that the controller can perceive the tactile information from the terminal device. The plurality of electrical stimulation electrodes can be formed by the electrode pattern of the conductive layer in the electronic skin, or the plurality of electrical stimulation electrodes can be independently arranged on the base layer of the electronic skin, which is not limited here.

[0077] According to the embodiments of the present disclosure, different intensities of electrical stimulation are applied to the areas where multiple electrical stimulation electrodes of the electronic skin are located to provide feedback to the operator on the working conditions of the actuator, thereby enhancing the sense of presence during surgery. During the control process, the information at the end of the surgical instrument is fed back to the wearable device in real time to improve the operator's control experience during surgery, thereby achieving closed-loop control of the surgical robot by the operator and reducing the possibility of accidents.

[0078] Figure 6 The working principle diagram of a wearable device for master-slave control of a medical robot according to another embodiment of the present disclosure is schematically shown.

[0079] like Figure 6 As shown, multiple electronic skins 202 of wearable devices for the master-slave control of the medical robot are worn on the upper limbs of the controller to obtain the first electromyographic signal, and the signal is processed by the flexible circuit 301 of the control module to obtain the second electromyographic signal. The multiple second electromyographic signals are decoded by the host computer 601 to obtain the control parameters of the slave device 104. During the control process, the tactile information of the surgical instrument end of the slave device 104 is fed back to the multiple electrical stimulation electrodes 603 in real time through the multiple electrical stimulation units 602, and electrical stimulation is applied to the muscle groups of the controller so that the controller can perceive the tactile information of the slave device, thereby improving the controller's control experience during surgery, thereby realizing closed-loop control of the surgical robot by humans and reducing the possibility of accidents.

[0080] Figure 7 The flowchart of the master-slave control method for a medical robot according to an embodiment of the present disclosure is schematically shown.

[0081] like Figure 7 As shown, the method includes operations S710~S720.

[0082] In operation S710, first electromyographic signals of respective muscle groups at the upper limbs of the controller are acquired through the plurality of electronic skins.

[0083] In operation S720, a control signal for the slave device is generated based on the plurality of first electromyographic signals.

[0084] According to an embodiment of the present disclosure, by acquiring the first electromyographic signals of each of the multiple muscle groups at the upper limbs of the controller, the controller can freely make movements so that the electronic skin collects the multiple first electromyographic signals corresponding thereto, thereby generating a control signal for the slave device to control the slave device to complete the corresponding action, for example, the same action as the controller.

[0085] According to an embodiment of the present disclosure, a control signal for a slave device is generated based on multiple first electromyographic signals, including: performing signal processing on the multiple first electromyographic signals respectively to obtain multiple second electromyographic signals; performing pattern matching based on the multiple second electromyographic signals to determine target actions corresponding to the multiple second electromyographic signals; decoding the multiple second electromyographic signals using a decoding model related to the target action to obtain control parameters for the slave device; and generating a control signal based on the control parameters.

[0086] According to an embodiment of the present disclosure, each first electromyographic signal is processed to obtain a corresponding second electromyographic signal, wherein the signal processing operation may include amplification, filtering, voltage raising and analog-to-digital conversion, wherein any one or more of the two parameters of the amplitude or frequency of the amplified signal are amplified. The target action corresponding to the plurality of first electromyographic signals is determined by pattern matching the preset target action based on the second electromyographic signal, wherein the target action may include: finger flexion and extension and wrist flexion and extension, upper and lower cutting, internal and external rotation and other actions. The correspondence between the second electromyographic signal and the target action may be preset.

[0087] According to an embodiment of the present disclosure, a plurality of second electromyographic signals are decoded and processed using a decoding model related to the target action to obtain control parameters for the slave device. For example, when the target action is determined to be finger flexion and extension, a plurality of second electromyographic signals can be decoded and processed using a decoding model corresponding to finger flexion and extension to determine control parameters such as the angle and strength of the finger bending.

[0088] According to an embodiment of the present disclosure, the program code for executing the computer program provided by the embodiment of the present disclosure can be written in any combination of one or more programming languages. Specifically, these computing programs can be implemented using high-level process and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages ​​include, but are not limited to, Java, C++, python, "C" language or similar programming languages. The program code can be executed entirely on the user computing device, partially on the user device, partially on the remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (for example, using an Internet service provider to connect through the Internet).

[0089] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram may represent a module, a program segment, or a part of a code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box may also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions. It can be understood by those skilled in the art that the features recorded in the various embodiments of the present disclosure can be combined and / or combined in a variety of ways, even if such a combination or combination is not explicitly recorded in the present disclosure. In particular, without departing from the spirit and teaching of the present disclosure, the features described in the various embodiments of the present disclosure may be combined and / or combined in a variety of ways. All of these combinations and / or combinations fall within the scope of the present disclosure.

[0090] The embodiments of the present disclosure are described above. However, these embodiments are only for illustrative purposes and are not intended to limit the scope of the present disclosure. Although the embodiments are described above, this does not mean that the measures in the various embodiments cannot be used in combination to advantage. Without departing from the scope of the present disclosure, those skilled in the art may make a variety of substitutions and modifications, which should all fall within the scope of the present disclosure.

Claims

1. A wearable device for master-slave control of a medical robot, comprising: The sleeve includes a positioning structure, and the sleeve is configured to be fixedly arranged on the upper limb of the controller based on the positioning structure; A plurality of electronic skins are configured to be attached to the inner side of the sleeve based on the position distribution of a plurality of muscle groups on the upper limbs of the controller, the plurality of electronic skins correspond to the plurality of muscle groups respectively, and the plurality of electronic skins are each configured to collect a first electromyographic signal of the corresponding muscle group; as well as The control module is configured to generate a control signal for the slave device based on the first electromyographic signals collected by each of the plurality of electronic skins.

2. The wearable device according to claim 1, wherein: The electronic skin comprises a base layer, a conductive layer and an adhesive layer; wherein the base layer is configured to contact the skin of the controller; The conductive layer includes an electrode pattern, the electrode pattern is configured to form a plurality of myoelectric electrodes, and the myoelectric electrodes are configured to collect a first myoelectric signal of a muscle group; and The adhesive layer is configured to adhere the electronic skin to the inner side of the casing.

3. The wearable device according to claim 2, wherein: The inner side of the sleeve is configured to be provided with a plurality of attachment areas, and the plurality of attachment areas are configured to be arranged based on the position distribution of the positioning structure and a plurality of muscle groups at the upper limbs of the controller; The adhesive layer is configured to adhere the electronic skin to the inner side of the case based on the attachment area.

4. The wearable device according to claim 1, wherein: The control module includes a flexible circuit and a host computer; The flexible circuit is configured to be attached to the outer side of the sleeve, and the flexible circuit is configured to process the first electromyographic signals collected by each of the plurality of electronic skins to obtain a plurality of second electromyographic signals; and The host computer is configured to generate the control signal based on the plurality of second electromyographic signals.

5. The wearable device according to claim 4, wherein: The host computer is configured to perform pattern matching based on the multiple second electromyographic signals to determine the target actions corresponding to the multiple second electromyographic signals, and use a decoding model related to the target actions to decode the multiple second electromyographic signals to obtain control parameters for the slave device, and then generate the control signal based on the control parameters.

6. The wearable device according to claim 4, wherein: The host computer is configured to input the plurality of second electromyographic signals into a residual network based on channel attention to obtain joint motion information, and then generate the control signal based on the joint motion information.

7. The wearable device according to claim 4, wherein: The flexible circuit includes a multi-pole amplification unit, a filtering unit, a voltage processing unit and an analog-to-digital conversion unit; Wherein, the multi-pole amplification unit is configured to amplify the first electromyographic signal to obtain a first intermediate signal; The filtering unit is configured to perform bandpass filtering on the first intermediate signal to obtain a second intermediate signal; The voltage processing unit is configured to perform voltage modulation on the second intermediate signal to obtain a third intermediate signal; and The analog-to-digital conversion unit is configured to perform sampling processing on the third intermediate signal to obtain the second electromyographic signal.

8. The wearable device according to claim 7, wherein: The flexible circuit also includes a power source and an electrical stimulation unit; The electrical stimulation unit is configured to switch on the power supply to generate an electrical stimulation signal in response to receiving a feedback signal from the control module.

9. The wearable device according to claim 8, wherein: The electronic skin also includes a plurality of electrical stimulation electrodes; The electrical stimulation electrodes are configured to apply electrical stimulation to the muscle groups of the controller based on the electrical stimulation signals so that the controller can perceive the tactile information of the slave device.

10. A method for controlling a master-slave end of a medical robot, applied to a wearable device as claimed in any one of claims 1 to 8, the method comprising: Acquiring first electromyographic signals of respective muscle groups at upper limbs of the controller through the plurality of electronic skins; as well as Based on the plurality of the first electromyographic signals, a control signal for the slave device is generated.

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