Wearable device and method for master-slave control of medical robots

Abstract

The present disclosure provides a wearable device and method for master-slave control of a medical robot, which can be applied to the fields of medical equipment and mechanical control. The method includes: a sleeve including a positioning structure, the sleeve configured to be fixedly mounted on the upper limb of a controller based on the positioning structure; a plurality of electronic skins configured to be attached to the inner side of the sleeve based on the positional distribution of multiple muscle groups in the upper limb of the controller, the multiple electronic skins corresponding to each of the multiple muscle groups, and each of the multiple electronic skins configured to collect a first electromyographic signal from the corresponding muscle group; and a control module configured to generate a control signal for a slave device based on the first electromyographic signals collected by each of the multiple electronic skins.

Description

Technical Field

[0001] The present disclosure relates to the fields 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 adoption of surgical robots in major hospitals is steadily increasing. Robotic surgery offers advantages in clinical practice, such as minimal incision, reduced infection risk, and smooth operation, and holds a promising market prospect. Commercial surgical robots typically utilize a master-slave operation system, where the surgeon manipulates a control console on the master hand to drive the corresponding movements of a slave robotic arm or endoscope.

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

[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 in 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 above-mentioned control module includes a flexible circuit and a host computer; wherein the above-mentioned flexible circuit is configured to be attached to the outside of the above-mentioned sleeve, and the above-mentioned 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 above-mentioned host computer is configured to generate the above-mentioned control signal based on the multiple 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 the 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 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 band-pass 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 the 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 connect the power supply to generate an electrical stimulation signal in response to receiving a feedback signal from the control module.

[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. The method includes: obtaining first electromyographic signals of multiple muscle groups in the controller's upper limbs through multiple electronic skins; and generating a control signal for the slave device based on the multiple first electromyographic signals.

[0015] According to an embodiment of the present disclosure, a wearable device for master-slave control of a medical robot has a portion with electronic skin configured on the controller's upper limb to obtain a first electromyographic signal, i.e., a physiological signal from multiple muscle groups in the controller's upper limb. The control module decodes the first electromyographic signal to obtain a control signal for the slave device, thereby controlling the slave device to perform the corresponding surgical operation. The wearable device for master-slave control of a medical robot directly senses the controller's upper limb movements and performs corresponding operations, thereby improving the controller's control experience during surgery. This allows the controller to apply the experience accumulated in traditional surgery to robotic surgery, reducing the time cost of pre-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 following schematically illustrates an application scenario diagram of a wearable device for master-slave control of a medical robot according to an embodiment of the present disclosure.

[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 shown schematically.

[0019] Figure 3 The figure schematically shows a schematic diagram of an electronic skin according to an embodiment of the present disclosure.

[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 figure schematically shows a working principle diagram of a wearable device for master-slave control of a medical robot according to another embodiment of the present disclosure.

[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 merely exemplary and are not intended to limit the scope of the present disclosure. In the detailed description below, 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 well-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 presence of the features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0026] All terms used herein (including technical and scientific terms) 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 expressions such as "at least one of A, B, and C, etc." are used, they should generally be interpreted in accordance with the meaning 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 this disclosure, the collection, updating, analysis, processing, use, transmission, provision, disclosure, and storage of all data involved (including, but not limited to, user personal information) comply with relevant laws and regulations, are used for legitimate purposes, and do not violate public order and good morals. In particular, necessary measures have been taken to prevent unauthorized access to user personal information data and to safeguard 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 control methods used in related technologies require complex mechanical structures, increasing the weight and footprint of surgical robots, thus affecting their placement within the operating room. Furthermore, the operational experience accumulated by doctors in traditional surgeries is difficult to transfer to surgeries performed with surgical robots. For example, the doctor's hand feel and strength in traditional surgeries are difficult to transfer to surgeries performed with surgical robots, and lengthy training is still required to improve proficiency before clinical operation.

[0031] Based on this, in response to the problems existing in the related art, 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 includes: a sleeve, including a positioning structure, the sleeve is configured to be fixedly set 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 at 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 each configured to collect a first electromyographic signal of the corresponding muscle group; and a control module is 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 illustrates an application scenario of a wearable device for master-slave control of a medical robot according to an embodiment of the present disclosure. Figure 1 The examples shown are merely application scenarios of the wearable device of the embodiments of the present disclosure, to help those skilled in the art understand the technical content of the present disclosure, but do not mean that the embodiments 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 includes at least a first master device 101 , a second master device 102 , a communication link 103 and a slave device 104 .

[0034] The first master device 101 may include a wearable device for master-slave control of a medical robot, and the second master device 102 may include a display for displaying images during surgery. The second master device 102 may also include other observation devices for viewing the current surgical progress, such as wearable glasses for observing the surgical status. The slave device 104 refers to a medical robot and may include various types of robotic arms or endoscopes used 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 wired and / or wireless communication links 103, etc. In this scenario, wired communication links 103 are preferably used. The slave device 104 performs corresponding movements by receiving control signals from the wearable device controlled by the master and slave terminals of the medical robot.

[0036] It should be noted that the application scenarios of the embodiments of the present disclosure are merely illustrative, and the number of devices and communication methods may be any number depending on implementation requirements. In particular, the second master-end device 102 may include a wearable device for the medical robot's master-slave control of the right arm, and a wearable device for the medical robot's master-slave 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 shown schematically.

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

[0039] like Figure 2 As shown, the wearable device for master-slave control of a medical robot includes a sleeve 201, multiple electronic skins 202, and a control module 203. Sleeve 201 includes a positioning structure, which is configured to be fixed to the upper limb of the operator based on the positioning structure. Sleeve 201 can be made of breathable fabric, making it easy to wear. It is lightweight, breathable, and stretchable to fit the skin without affecting normal arm movement, suitable for long-term surgery.

[0040] The positioning structure is used to secure the sleeve 201 to the user, facilitating the collection of first electromyographic signals from a fixed muscle group by the multiple electronic skins 202. The first electromyographic signals are analog signals representing the movement characteristics of multiple muscle groups in the user's upper limbs. The positioning structure can take various forms. For example, the sleeve 201 can have a hollow structure that corresponds to the elbow, and by locating the user's elbow, the sleeve 201 can be fixed in place. For another example, the sleeve 201 can have an extended strap that secures the sleeve 201 with the multiple electronic skins 202 to the user, preventing it from slipping.

[0041] Multiple electronic skins 202 are configured to be attached to the inner side of the sleeve 201 based on the distribution of multiple muscle groups in the user's upper limbs. Each of the multiple electronic skins 202 corresponds to a muscle group, and each of the multiple electronic skins 202 is configured to collect a first electromyographic signal from the corresponding muscle group. The multiple muscle groups may include, but are not limited to, the flexor digitorum, extensor digitorum, extensor carpi radialis, and flexor carpi radialis.

[0042] The muscle groups may include muscle groups in multiple locations of the controller's hands, forearms, and upper arms. The electronic skin 202 is configured to collect first pole point signals from the controller's upper limbs. The first electromyographic signal represents the electromyographic signal from the human body surface collected by the multiple electronic skins 202. The electromyographic signal is the temporal and spatial superposition of action potentials of motor units in numerous muscle fibers.

[0043] The inside of the sleeve 201 can be provided with multiple mounting locations for the electronic skin 202. When replacing the electronic skin 202, the electronic skin 202 can be attached based on the mounting location. Because each movement of the operator's arm or hand during a surgical operation is performed by a different muscle group, the multiple electronic skins 202 can each collect the first electromyographic signal of the corresponding muscle group, thereby improving the accuracy of subsequent control of the slave device.

[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 devices.

[0045] According to an embodiment of the present disclosure, a wearable device for master-slave control of a medical robot has a portion with electronic skin configured on the controller's upper limb to obtain a first electromyographic signal, i.e., a physiological signal from multiple muscle groups in the controller's upper limb. The control module decodes the first electromyographic signal to obtain a control signal for the slave device, thereby controlling the slave device to perform the corresponding surgical operation. The wearable device for master-slave control of a medical robot directly senses the controller's upper limb movements and performs corresponding operations, thereby improving the controller's control experience during surgery. This allows the controller to apply the experience accumulated in traditional surgery to robotic surgery, reducing the time cost of pre-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, and 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 this disclosure, the base layer can be made of a stretchable insulating material such as polydimethylsiloxane (PDMS), which is easy to process and mold, and has good transparency and biocompatibility. In actual use, the housing is made of a breathable material. However, the operator may sweat due to prolonged surgery 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 myoelectric electrodes, and the myoelectric electrodes may be processed by laser processing, printing, or other methods to obtain an electrode pattern with a certain degree of stretchability, wherein the electrode pattern may be a serpentine line. During actual operation, the controller will generate forces of different angles and amplitudes on the myoelectric electrodes. By providing an electrode pattern with a certain degree of stretchability, the probability of damage to the myoelectric electrodes can be reduced. The adhesive layer may be made of medical double-sided tape, and the adhesive layer may be waterproof to further prevent the electrodes from falling off.

[0049] Figure 3 The figure schematically shows a schematic diagram of an electronic skin according to an embodiment of the present disclosure.

[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 stick 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 multiple attachment areas, and the multiple attachment areas are configured to be arranged based on the position distribution of the positioning structure and multiple muscle groups in the controller's upper limbs; the adhesive layer is configured to stick the electronic skin to the inner side of the sleeve based on the attachment areas.

[0053] According to an embodiment 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 positional distribution of the muscle groups of the controller's upper limbs and setting multiple attachment areas, the acquisition accuracy is improved, and the usage of the electronic skin is reasonably set. The positional distribution of the muscle groups can be determined through the controller's medical imaging 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, which facilitates the controller or other non-professionals to perform 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 preprocessing of the first electromyographic signals, and the signal processing can include noise reduction of 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 control signals representing human body movement information, so as to transmit the control signals to the slave device and control the slave device to perform corresponding actions.

[0057] According to the embodiment of the present disclosure, the flexible circuit is arranged on the outside of the sleeve, and the distance between the flexible circuit and the electronic skin is shortened as much as possible, thereby reducing the 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 variety 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 the embodiments 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 multiple 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 multiple control parameters of the slave device corresponding to the second electromyographic signals, wherein the control parameters of the slave device are used to generate a control signal based on the control parameters, and the slave device performs the corresponding action. The host computer is configured to perform pattern matching based on the multiple second electromyographic signals to determine the target action corresponding to the multiple second electromyographic signals. For example, the multiple 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 multiple 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 and process 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, movement distance, and pressure coefficient. The control signal may be a digital signal, and the control parameter is used as an input to a specific algorithm or function 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 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 around the outside of the electronic skin 202, and adjust the binding strap 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 entire device, 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 thus the user experience of the controller.

[0066] According to an embodiment of the present disclosure, a flexible circuit includes a multi-pole amplification unit, a filtering unit, a voltage processing unit, and an analog-to-digital conversion unit. The multi-pole amplification unit is configured to amplify a 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. 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. Therefore, a multi-pole amplification unit is provided in the flexible circuit. The second intermediate signal represents the signal after amplification of the first electromyographic signal. The multi-pole amplification unit amplifies the first electromyographic signal to obtain the second intermediate signal. Preferably, the amplification factor can be set to 500 times.

[0068] According to an embodiment of the present disclosure, the filtering unit may be a Butterworth filter with a high-pass cutoff frequency of 10 Hz and a low-pass cutoff frequency of 500 Hz. The filtering unit performs bandpass filtering on the first intermediate signal 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 electromyographic 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, an 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, thereby facilitating subsequent transmission of the second electromyographic signal to a host computer via a wired or wireless manner for subsequent decoding, 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 to a multi-pole amplifier unit 501 for signal amplification processing to obtain a first intermediate signal. The first intermediate signal is input to a filter unit 502 for filtering processing to obtain a second intermediate signal. The second intermediate signal is input to a voltage processing unit 503 for voltage modulation to obtain a third intermediate signal. The third intermediate signal is input to an 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 recognizability 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 supply and an electrical stimulation unit; the electrical stimulation unit is configured to turn on the power supply 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, an electrical stimulation unit is used to generate an electrical stimulation signal that provides a sense of touch to a user. A control module is used to receive a tactile feedback signal from a terminal device. 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 generate an electrical stimulation signal for providing a sense of touch. A 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 user's muscle groups based on an electrical stimulation signal, so that the user perceives tactile information from a terminal device. The plurality of electrical stimulation electrodes may be formed by an electrode pattern in a conductive layer of the electronic skin, or may be independently disposed on the base layer of the electronic skin, without limitation.

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

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

[0079] like Figure 6 As shown, multiple electronic skins 202 of a wearable device for the master-slave control of a medical robot are worn on the controller's upper limbs to obtain a first electromyographic signal, which is processed by the flexible circuit 301 of the control module to obtain a 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 at the end of the surgical instrument of the slave device 104 is fed back to the multiple electrostimulation electrodes 603 in real time through the multiple electrostimulation units 602, and electrical stimulation is applied to the controller's muscle groups 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 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 to S720.

[0082] In operation S710 , first electromyographic signals of respective muscle groups at the controller's upper limbs 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 obtaining the first electromyographic signals of each of the multiple muscle groups at the controller's upper limbs, 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, 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 can be pre-set.

[0087] According to an embodiment of the present disclosure, a plurality of second electromyographic signals are decoded and processed using a decoding model associated with the target action to obtain control parameters for the slave device. For example, if the target action is determined to be finger flexion and extension, the 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 force of the finger flexion.

[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 computer programs can be implemented using high-level procedural and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages ​​include, but are not limited to, languages ​​such as Java, C++, Python, "C" or similar programming languages. The program code can be executed entirely on the user computing device, partially on the user device, partially on a remote computing device, or entirely on a remote computing device or server. In cases involving 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 via the Internet).

[0089] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, 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 can represent a module, program segment, or part of the code, which contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the boxes can also occur in an order different from that marked in the accompanying drawings. For example, two boxes shown 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, as well as the combination of boxes in the block diagram or flowchart, can be implemented using a dedicated hardware-based system that performs the specified functions or operations, or can be implemented using a combination of dedicated hardware and computer instructions. It will be understood by those skilled in the art that the features described in the various embodiments of the present disclosure can be combined and / or combined in various ways, even if such combinations or combinations are not explicitly described in the present disclosure. In particular, without departing from the spirit and teachings of the present disclosure, the features described in the various embodiments of the present disclosure may be combined and / or coupled in various ways, and all of these combinations and / or couplings fall within the scope of the present disclosure.

[0090] The above describes the embodiments of the present disclosure. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Although each embodiment has been described separately above, this does not mean that the measures in each embodiment cannot be advantageously used in combination. Without departing from the scope of the present disclosure, those skilled in the art may make various 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 multiple muscle groups on the upper limbs of the controller, the multiple electronic skins corresponding to each of the multiple muscle groups, and each of the multiple electronic skins is configured to collect a first electromyographic signal of the corresponding muscle group; as well as A control module configured to generate a control signal for a slave device based on the first electromyographic signals collected by each of the plurality of electronic skins; 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 first myoelectric signals of a muscle group; and The adhesive layer is configured to adhere the electronic skin to the inner side of the casing; 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 on 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.

2. 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.

3. The wearable device according to claim 2, wherein: The host computer is 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 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.

4. The wearable device according to claim 2, 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.

5. The wearable device according to claim 2, wherein: The flexible circuit includes a multi-pole amplification unit, a filtering unit, a voltage processing unit and an analog-to-digital conversion unit; 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.

6. The wearable device according to claim 5, wherein: The flexible circuit also includes a power supply 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.

7. The wearable device according to claim 6, wherein: 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 tactile information from the slave device.

8. A master-slave control method for a medical robot, applied to the wearable device according to any one of claims 1 to 7, the method comprising: acquiring first electromyographic signals of respective muscle groups at the controller's upper limbs through the plurality of electronic skins; as well as Based on the plurality of first electromyographic signals, a control signal for the slave device is generated.

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