Medical equipment control method and medical system
By using pressure sensors and driving equipment control methods on medical equipment, determining and applying appropriate torques, the problem of difficulty in moving existing medical equipment is solved, and a more convenient and safe movement process is achieved.
Patent Information
- Application Number
- CN202411451917.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-16
- Publication Date
- 2025-02-07
AI Technical Summary
Existing medical equipment relies on human power to move when it is moved, especially heavy or equipment that requires tilting movement, which makes it difficult to operate or even unable to move.
Using a control method combining pressure sensor and driving device, the current torque of the driving device is determined by obtaining the current value of the pressure sensor and the mapping relationship with the driving device torque, and controlling the movement of the medical device according to the torque.
The movement of medical equipment that provides appropriate assistance to different exercise stages is achieved, and the problem of medical equipment that cannot be moved by manpower in traditional technology that rely on manpower or requires tilted movement is solved.
Smart Images
Figure CN119385799A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of medical technology, and in particular to a medical equipment control method and a medical system. Background Art
[0002] At present, medical equipment, such as examination beds, diagnostic beds, catheter beds, and operating beds, are mainly moved by manual control, and the bed is pushed by manpower to move the patient. As the patient's weight increases, it becomes more difficult for the operator to operate the bed. In addition, since the tilting movement of the six-dimensional bed must be driven by a motor reducer, it is very difficult or even impossible to move the bed by manpower in a horizontal state.
[0003] With regard to the problem in the prior art that the bed cannot be moved by manpower, no effective solution has been proposed yet. Summary of the invention
[0004] Based on this, it is necessary to provide a medical equipment control method and a medical system that can assist in moving the bed in order to solve the above technical problems.
[0005] In a first aspect, the present application provides a medical device control method, the method comprising:
[0006] Acquiring a current value of a pressure sensor; the pressure sensor is used to collect the force acting on the medical device;
[0007] Acquire a mapping relationship between the value of the pressure sensor and the torque of a driving device; the driving device is used to drive the medical device to move, and the mapping relationship is determined according to the movement phase of the medical device;
[0008] Determining a current torque of the driving device according to the mapping relationship and a current value of the pressure sensor;
[0009] The medical device is controlled according to the current torque.
[0010] In one embodiment, the method further comprises:
[0011] Determine a relationship function according to a movement stage of the medical device, wherein the movement stage is determined according to a current value of the pressure sensor and a pressure threshold, and the relationship function is used to characterize a relationship between a change in the torque of the driving device and a change in the value of the pressure sensor;
[0012] The mapping relationship is determined according to the relationship function.
[0013] In one embodiment, the pressure threshold comprises a first preset value, and determining a relationship function matching at least one movement phase of the medical device comprises:
[0014] If the current value of the pressure sensor is less than the first preset value, determining that the exercise stage is a start-up stage;
[0015] A first slope of the startup phase is determined, and the relationship function is determined based on the first slope, wherein the first slope is positively correlated with the value of the pressure sensor, and the first slope includes a rate of change of the torque with respect to the value of the pressure sensor.
[0016] In one embodiment, the pressure threshold comprises a second preset value, and determining a relationship function matching at least one movement phase of the medical device comprises:
[0017] If the current value of the pressure sensor is greater than or equal to the first preset value and less than the second preset value, it is determined that the exercise stage is an intermediate stage, and the second preset value is greater than the first preset value;
[0018] A second slope of the intermediate stage is determined, and the relationship function is determined based on the second slope, wherein the second slope is positively correlated with the value of the pressure sensor, and the second slope includes a rate of change of the torque with respect to the value of the pressure sensor.
[0019] In one embodiment, the second slope is greater than or equal to the first slope.
[0020] In one embodiment, the pressure threshold comprises a third preset value, and determining a relationship function matching at least one movement phase of the medical device comprises:
[0021] If the current value of the pressure sensor is greater than or equal to the second preset value and less than the third preset value, it is determined that the exercise stage is the third stage, and the third preset value is greater than the second preset value;
[0022] A third slope of the third stage is determined, and the relationship function is determined based on the third slope, wherein the third slope is negatively correlated with the value of the pressure sensor, and the third slope includes a rate of change of the torque with respect to the value of the pressure sensor.
[0023] In one embodiment, the third slope is smaller than the second slope.
[0024] In one embodiment, the relationship function is a continuous curve function.
[0025] In one embodiment, the method further comprises:
[0026] When the medical device moves toward the limit position under the action of the operator, a real-time limit speed is obtained based on the real-time distance of the medical device relative to the limit position;
[0027] Obtaining an actual operating speed of the medical device;
[0028] Determining whether the actual running speed is greater than the real-time speed limit;
[0029] If the actual operating speed of the medical device is greater than the real-time limit speed, the current torque is obtained based on the real-time limit speed, so that the motor generates a force on the medical device according to the current torque.
[0030] In a second aspect, the present application also provides a medical system. The system includes: a medical device, a pressure sensor, a driving device and a control device;
[0031] The medical device is connected to the pressure sensor, and the pressure sensor is used to collect the force acting on the medical device;
[0032] The medical device is connected to the driving device, and the driving device is used to drive the medical device to move;
[0033] The pressure sensor is electrically connected to the control device, and the control device is used to determine the torque of the driving device according to the relationship function between the value of the pressure sensor and the torque of the driving device;
[0034] The control device is electrically connected to the driving device, and the control device is also used to control the driving device according to the torque to drive the medical device to move.
[0035] The above-mentioned medical device control method and medical system obtain the current value of the pressure sensor; the pressure sensor is used to collect the force acting on the medical device; the mapping relationship between the value of the pressure sensor and the torque of the driving device is obtained; the driving device is used to drive the medical device to move, and the mapping relationship is determined according to the movement stage of the medical device; according to the mapping relationship and the current value of the pressure sensor, the current torque of the driving device is determined; according to the current torque, the medical device is controlled.
[0036] The present application determines the mapping relationship between the value of the pressure sensor and the torque of the driving device according to the movement stage of the medical device. The mapping relationship can determine the quantitative relationship between manpower and the torque of the driving device according to the movement stage. Then, according to the mapping relationship and the current value of the pressure sensor, the current torque of the driving device is determined, and according to the current torque, the medical device is controlled, so that corresponding assistance can be provided for the moving bed in the corresponding movement stage of the medical device, solving the problem that the bed cannot be moved by manpower in traditional technology.
[0037] Details of one or more embodiments of the present application are set forth in the following drawings and description to make other features, objects, and advantages of the present application more readily apparent. BRIEF DESCRIPTION OF THE DRAWINGS
[0038] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:
[0039] Figure 1 A schematic diagram of the horizontal movement direction of the catheter bed in one embodiment;
[0040] Figure 2 A schematic diagram of a flow chart of a medical device control method in one embodiment;
[0041] Figure 3 is a schematic diagram of a relationship function curve in one embodiment;
[0042] Figure 4 is a schematic diagram of a smooth curve of speed and position in one embodiment;
[0043] FIG5( a ) is a schematic flow chart of a catheter bed control method in a specific embodiment;
[0044] FIG5( b ) is a schematic diagram of a process for determining the current torque in one embodiment;
[0045] Figure 6 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION
[0046] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.
[0047] The terms "module", "unit", etc. used below are a combination of software and / or hardware that can implement a predetermined function. Although the devices described in the following embodiments are preferably implemented in hardware, the implementation of software, or a combination of software and hardware is also possible and conceivable.
[0048] The medical device control method provided in the embodiment of the present application can be applied to Figure 1 The catheter bed is shown in the moving scene. Figure 1As shown, the catheter bed can move horizontally in the direction of the arrow. The present application obtains the mapping relationship between the value of the pressure sensor and the torque of the driving device, determines the current torque of the driving device according to the mapping relationship and the current value of the pressure sensor, and controls the movement of the catheter bed according to the current torque.
[0049] In some embodiments, Figure 2 As shown, a medical device control method is provided, the method comprising:
[0050] S201: Acquire the current value of a pressure sensor; the pressure sensor is used to collect the force acting on the medical device.
[0051] In an embodiment of the present application, a pressure sensor may be provided on a medical device to collect the force acting on the medical device. The force acting on the medical device may include a push or pull force applied by an operator on the medical device, or other external force driving the medical device to move. Specifically, the force may include a force acting on the medical device in a horizontal moving direction, or a horizontal component of a force acting on the medical device in a horizontal moving direction of the medical device.
[0052] In some specific embodiments, the medical device may include a catheter bed, a movable operating bed or other medical device body. The pressure sensor may include a strain gauge pressure sensor, a piezoresistive pressure sensor, a piezoelectric pressure sensor, etc. The present application does not limit the specific form of the pressure sensor.
[0053] S203: Acquire a mapping relationship between the value of the pressure sensor and the torque of a driving device; the driving device is used to drive the medical device to move, and the mapping relationship is determined according to the movement phase of the medical device.
[0054] In an embodiment of the present application, a driving device is connected to the medical device, and the driving device is used to drive the medical device to move. In order to make the medical device move smoothly and smoothly, and to adapt to the operating characteristics of the planetary reducer, the driving device can provide different torques to assist the stable movement of the medical device in different movement stages of the medical device. Based on this, the corresponding mapping relationship between the value of the pressure sensor and the torque of the driving device can be determined according to the movement stage of the medical device. Among them, the planetary reducer is used to control the movement of the medical device, such as lifting, tilting, rotating, etc. The planetary reducer converts the high-speed output of the motor into low-speed, high-precision movement through the planetary reducer, which can ensure that the doctor can obtain the desired precise position when operating the catheter.
[0055] In some embodiments, the movement stages of the medical device may include a startup stage, an intermediate stage, and a third stage. The static friction force in the startup stage is large, so the driving device needs to provide a large assist torque to achieve rapid driving of the medical device to move. After the torque of the driving device reaches a certain threshold, the medical device enters the intermediate stage. During this stage, the torque of the driving device continues to increase with the value of the pressure sensor to overcome the resistance of the planetary reduction box. When the torque of the driving device increases further, the medical device needs to continue to move smoothly and enter the third stage. It can be understood that by setting a mapping relationship between the value of the pressure sensor and the torque of the driving device, the movement requirements of the medical device in each movement stage can be met.
[0056] In some embodiments, the mapping relationship between the value of the pressure sensor and the torque of the driving device can be expressed as a relationship function or as a discretized table. In some specific embodiments, the mapping relationship can be characterized by a relationship function curve with the horizontal axis representing the value of the pressure sensor and the vertical axis representing the torque of the driving device. In other specific embodiments, the relationship function curve can be discretized at a fixed step size based on matlab to generate a discretized table, which is convenient for determining the torque of the driving device according to the value of the pressure sensor.
[0057] In some embodiments, the medical device control method provided in the embodiments of the present application further includes:
[0058] S301: Determine a relationship function that matches at least one movement phase of the medical device, wherein the movement phase is determined based on a current value of the pressure sensor and a pressure threshold, and the relationship function is used to characterize the relationship between the torque of the driving device and the change in the value of the pressure sensor.
[0059] S303: Determine the mapping relationship according to the relationship function.
[0060] In an embodiment of the present application, the movement stage of the medical device can be determined based on the current value of the pressure sensor of the driving device and the pressure threshold. Specifically, if the current value of the pressure sensor is less than the first preset value, it can be determined that the movement stage is the starting stage for overcoming static friction. If the current value of the pressure sensor is greater than or equal to the first preset value and less than the second preset value, the movement stage of the medical device is determined to be an intermediate stage that mainly overcomes the resistance of the planetary reduction box. The intermediate stage may include an accelerated movement stage of the medical device. If the current value of the pressure sensor is greater than or equal to the second preset value and less than the third preset value, the movement stage is determined to be the third stage for controlling the smooth movement of the medical device. The third stage may include a smooth movement stage of the medical device.
[0061] In some embodiments, different relationship functions can be set according to different motion stages of the medical device to meet different power requirements. In other embodiments, the same relationship function can be set for the torque of the driving device and the pressure sensor to meet the corresponding power requirements in different motion stages.
[0062] In some specific embodiments, the relationship function can be used to characterize the relationship between the torque of the driving device and the value of the pressure sensor. Specifically, the relationship function may include formula (1):
[0063]
[0064] In formula (1), x represents the value of the pressure sensor, f(x) represents the torque of the driving device, and parameter 200 can be determined by the maximum acceleration of the driving device. In some specific embodiments, the relationship function can be expressed as Figure 3 The relationship function curve shown, where the horizontal axis represents the value of the pressure sensor, and the vertical axis represents the torque of the driving device.
[0065] S205: Determine the current torque of the driving device according to the mapping relationship and the current value of the pressure sensor.
[0066] S207: Control the medical device according to the current torque.
[0067] In the embodiment of the present application, after obtaining the mapping relationship between the value of the pressure sensor and the torque of the driving device, the current torque of the driving device having a mapping relationship with the current value of the pressure sensor can be determined based on the current value of the pressure sensor. Specifically, the current torque of the matching driving device can be determined by the relationship function and the current value of the pressure sensor; or the current torque of the driving device having a mapping relationship can be confirmed by looking up a table based on the current value of the pressure sensor through a discretized table that characterizes the mapping relationship between the value of the pressure sensor and the torque of the driving device. The driving device then controls the medical device based on the current torque to assist in the movement of the medical device.
[0068] The present application determines the mapping relationship between the value of the pressure sensor and the torque of the driving device according to the movement stage of the medical device. The mapping relationship can determine the quantitative relationship between manpower and the torque of the driving device according to the movement stage. Then, according to the mapping relationship and the current value of the pressure sensor, the current torque of the driving device is determined, and according to the current torque, the medical device is controlled, so that corresponding assistance can be provided for the moving bed in the corresponding movement stage of the medical device, solving the problem that the bed cannot be moved by manpower in traditional technology.
[0069] The following describes an implementation method for determining a relationship function according to a movement phase of a medical device through an embodiment of the present application.
[0070] In some embodiments, the pressure threshold comprises a first preset value, and determining a relationship function that matches at least one movement phase of the medical device comprises:
[0071] S401: If the current value of the pressure sensor is less than the first preset value, determining that the movement stage is a start-up stage.
[0072] S403: Determine a first slope of the startup phase, and determine the relationship function based on the first slope, wherein the first slope is positively correlated with the value of the pressure sensor, and the first slope includes a rate of change of the torque with respect to the value of the pressure sensor.
[0073] In the example of the present application, if the current value of the pressure sensor is less than the first preset value, it can be determined that the medical device is in the moving stage of overcoming static friction, and the movement stage of the medical device is determined to be the starting stage. The first slope of the starting stage is determined, and the relationship function is determined based on the first slope, and the first slope includes the rate of change of the torque with respect to the value of the pressure sensor. Among them, the first slope is positively correlated with the value of the pressure sensor, that is, in the starting stage, the larger the value of the pressure sensor, the larger the first slope of the relationship function, and the faster the torque of the driving device increases.
[0074] In some embodiments, the pressure threshold comprises a second preset value, and determining a relationship function that matches at least one movement phase of the medical device comprises:
[0075] S501: If the current value of the pressure sensor is greater than or equal to the first preset value and less than the second preset value, it is determined that the exercise stage is an intermediate stage, and the second preset value is greater than the first preset value.
[0076] S503: Determine a second slope of the intermediate stage, and determine the relationship function based on the second slope, wherein the second slope is positively correlated with the value of the pressure sensor, and the second slope includes a rate of change of the torque with respect to the value of the pressure sensor.
[0077] In an embodiment of the present application, if the current value of the pressure sensor is greater than or equal to the first preset value and less than the second preset value, it can be determined that the medical device is in the intermediate stage of mainly overcoming the resistance of the planetary reducer, and the second preset value is greater than the first preset value.
[0078] Determine a second slope in the intermediate stage, and determine the relationship function based on the second slope, wherein the second slope includes a rate of change of the torque with respect to the value of the pressure sensor. The second slope is positively correlated with the value of the pressure sensor, that is, in the intermediate stage, the larger the value of the pressure sensor, the larger the second slope of the relationship function, and the faster the torque of the driving device increases.
[0079] In some embodiments, the second slope is greater than or equal to the first slope.
[0080] In the middle stage of the medical device, a larger resistance needs to be overcome, so the second slope may be greater than or equal to the first slope. In some specific embodiments, the second slope may be a fixed value or a variable value.
[0081] If the second slope is a fixed value, it means that the relationship function in the intermediate stage is a straight line, the torque is proportional to the value of the pressure sensor, and the fixed value of the second slope can be the maximum value of the continuously changing first slope, or the fixed value of the second slope can be greater than the maximum value of the first slope.
[0082] If the second slope is a changing value, it means that the relationship function in the intermediate stage is a curve. The larger the value of the pressure sensor, the larger the second slope of the relationship function. However, the minimum value of the second slope of the relationship function can be greater than or equal to the maximum value of the continuously changing first slope.
[0083] In some embodiments, the pressure threshold comprises a third preset value, and determining a relationship function matching at least one movement phase of the medical device comprises:
[0084] S601: If the current value of the pressure sensor is greater than or equal to the second preset value and less than the third preset value, it is determined that the exercise stage is the third stage, and the third preset value is greater than the second preset value.
[0085] S603: Determine a third slope of the third stage, and determine the relationship function based on the third slope, wherein the third slope is negatively correlated with the value of the pressure sensor, and the third slope includes a rate of change of the torque with respect to the value of the pressure sensor.
[0086] In an embodiment of the present application, if the current value of the pressure sensor is greater than or equal to the second preset value and less than the third preset value, the movement stage of the medical device is determined to be the third stage. The third preset value is greater than the second preset value. In some embodiments, in the third stage of the medical device, the torque of the driving device tends to saturation, and the saturation output point of the pressure sensor corresponds to the third preset value. In some specific embodiments, the third preset value includes the maximum output torque of the driving device.
[0087] A third slope of the third stage is determined, and the relationship function is determined based on the third slope, wherein the third slope includes a rate of change of the torque with respect to the value of the pressure sensor, wherein the third slope is negatively correlated with the value of the pressure sensor.
[0088] It can be understood that in the third stage of the medical device, in order to maintain smooth movement of the device, although the driving device still needs to output a higher torque, the torque of the driving device does not need to continue to increase rapidly. Therefore, in some embodiments, to ensure smooth movement of the medical device, the third slope of the third stage is less than the second slope of the middle stage.
[0089] In some embodiments, the relationship function is a continuous curve function. In order to further ensure that the medical device has a stable moving state in all three stages, the relationship function provided in the embodiment of the present application can also be a continuous curve function. By setting the relationship function as a continuous curve function, when the medical device enters the intermediate stage from the startup stage, and when it enters the third stage from the intermediate stage, the driving device can provide a stable assist torque, making the torque change smoother.
[0090] The embodiments of the present application also provide other medical device control methods, which are illustrated by the following embodiments.
[0091] In one embodiment, the medical device control method further includes:
[0092] Step S701, when the medical device moves toward the limit position under the action of the operator, a real-time limit speed is obtained based on the real-time distance of the medical device relative to the limit position.
[0093] Among them, the smaller the real-time distance is, the closer the medical device is to the limit position, and the smaller the corresponding real-time limit speed is and the closer it is to the set stop speed.
[0094] The operator can apply horizontal direction (such as Figure 1 The medical device will move toward the limit position under the action of the operator if a thrust is applied (in the direction of the arrow shown). During this process, the real-time position of the medical device can be monitored, and the real-time distance of the medical device relative to the limit position can be obtained based on the real-time position of the medical device and the pre-acquired limit position to obtain the corresponding real-time limit speed; the smaller the real-time distance is, the closer the medical device is to the limit position, and the smaller the corresponding real-time limit speed is and the closer it is to the set stop speed; the specific value of the stop speed can be set according to actual needs. In some scenarios, the stop speed can be set to 0.
[0095] Step S702, obtaining the actual operating speed of the medical device.
[0096] When the medical device moves toward the limit position under the action of the operator, the computer device can obtain the real-time running speed of the medical device through the speed sensor.
[0097] Step S703, determining whether the actual running speed is greater than the real-time speed limit.
[0098] After obtaining the real-time speed limit, the relative size between the real-time running speed and the real-time speed limit can be compared.
[0099] If the real-time running speed is less than the real-time speed limit, the speed limit of the medical device may not be imposed, and the operator may apply horizontal thrust to the medical device, and the current value of the pressure sensor corresponding to the operator may be obtained, and the current value of the pressure sensor may be used as the current torque. The motor generates a corresponding force based on the current torque and acts on the medical device.
[0100] If the actual running speed is greater than the real-time speed limit, the process proceeds to step S704.
[0101] Step S704: If the actual operating speed of the medical device is greater than the real-time speed limit, the current torque is obtained based on the real-time speed limit so that the motor generates a force on the medical device according to the current torque.
[0102] When the actual operating speed of the medical device is greater than the real-time speed limit, the function of the current torque obtained is mainly to reduce the operating speed of the medical device to within the speed limit as much as possible. The torque required to reduce the operating speed of the medical device to within the speed limit can be determined according to the difference between the actual operating speed and the real-time speed limit, thereby obtaining the current torque.
[0103] Exemplarily, the processor used to obtain the current torque may include: a processor disposed on a computer device outside the motor. In this case, after the processor of the computer device obtains the current torque in the above manner, the current torque may be sent to the motor.
[0104] In another exemplary embodiment, the processor used to obtain the current torque may include: a processor disposed on the motor. In this case, after the processor in the motor obtains the current torque in the above manner, it can directly control other components of the motor to generate corresponding forces to act on the medical device according to the current torque.
[0105] In another exemplary embodiment, the processor used to obtain the current torque may include: a processor on a computer device outside the motor and a processor on the motor. In this case, the processor of the computer device may execute some steps, and the processor of the motor may execute other steps, thereby obtaining the current torque.
[0106] After obtaining the current torque, the motor can generate a corresponding force based on the current torque and act on the medical device. The aforementioned steps S701 to S704 are continuously performed, so that under the horizontal pushing action of the operator, the running speed of the medical device when it reaches the limit position is not greater than the set stop running speed, which can assist the operator in stopping the operation of the medical device.
[0107] In the above-mentioned medical device control method, when the medical device is running towards the limit position under the action of the operator, the real-time limit speed is obtained based on the real-time distance of the medical device relative to the limit position; when the actual running speed of the medical device is greater than the real-time limit speed, the current torque is obtained based on the real-time limit speed, so that the motor generates a force on the medical device according to the current torque, and the running speed of the auxiliary operator when the medical device reaches the limit position is not greater than the set stop running speed, and there is no need for brakes and other braking devices to take effect, and there will be no noise and vibration generated by the action of the braking device. When the operator needs to move in the opposite direction, there is no need to release the braking device, and the reverse movement can be responded to quickly; and based on the medical device relative to the The real-time distance of the limit position is used for deceleration control, which can ensure that the medical device will not collide with the limit block at the limit position as much as possible, avoid uncomfortable impact caused by collision, and avoid the safety risk caused by the life of the limit block due to too many collisions. In addition, the smaller the real-time distance is and the closer the medical device is to the limit position, the smaller the corresponding real-time limit speed is and the closer it is to the set stop speed. This processing method does not require the operator to concentrate on controlling the position of the medical device when the medical device is closer to the limit position, and can focus more on assisting the surgical process. At the same time, the closer to the limit position, the smaller the corresponding real-time limit speed is and the smoother the deceleration is, which improves the operator's sense of security and does not need to worry too much about collision.
[0108] In one embodiment, obtaining the current torque based on the real-time speed limit includes: determining the real-time compensation torque based on the real-time speed limit; and obtaining the current torque based on the real-time compensation torque and the current value of the pressure sensor.
[0109] When the actual running speed is greater than the real-time speed limit, the speed of the medical device can be limited to prevent the running speed of the medical device from being greater than the set stop running speed when reaching the limit position, thereby reducing the risk of the medical device hitting the limit block at the limit position. At this time, the corresponding torque can be determined according to the difference between the actual running speed and the real-time speed limit, and the torque can be called the real-time compensation torque.
[0110] According to the horizontal thrust applied by the operator to the medical device, the current value of the pressure sensor corresponding to the operator can be obtained. In some scenarios, the correspondence between thrust and torque can be preset. After obtaining the horizontal thrust applied by the operator to the medical device, the torque matching the thrust is determined in combination with the aforementioned preset correspondence, and the torque is used as the current value of the pressure sensor corresponding to the operator.
[0111] The current value of the pressure sensor can be adjusted according to the real-time compensation torque. Specifically, the current value of the pressure sensor can be reduced according to the real-time compensation torque, and the reduced torque is used as the current torque.
[0112] In this embodiment, the real-time compensation torque is determined based on the real-time speed limit, and a more accurate current torque can be obtained based on the real-time compensation torque corresponding to the operator and the current value of the pressure sensor.
[0113] In one embodiment, the current torque is obtained based on the real-time compensation torque and the current value of the pressure sensor, including: adjusting the current value of the pressure sensor based on the real-time compensation torque to obtain an adjustment result; when the torque corresponding to the adjustment result is not greater than the maximum torque set for smooth operation of the medical device, the torque corresponding to the adjustment result is used as the current torque; when the torque corresponding to the adjustment result is greater than the maximum torque, the maximum torque is used as the current torque.
[0114] Specifically, the current value of the pressure sensor can be subtracted from the real-time compensation torque, and the subtraction result can be used as the adjustment result. When the torque corresponding to the adjustment result is not greater than the maximum torque set to make the medical device run smoothly, the torque corresponding to the adjustment result can be used as the current torque. When the torque corresponding to the adjustment result is greater than the maximum torque, if the torque corresponding to the adjustment result is directly used as the current torque, it may be difficult to make the medical device run smoothly. At this time, the maximum torque that makes the medical device run smoothly can be used as the current torque.
[0115] In this embodiment, after obtaining the adjustment result based on the current value of the pressure sensor corresponding to the operator based on the real-time compensation torque adjustment, the torque corresponding to the adjustment result is not directly used as the current torque. Instead, the torque corresponding to the adjustment result is judged against the maximum torque for smooth operation of the medical device. The current torque is determined based on the judgment result to ensure that the medical device can operate smoothly as much as possible.
[0116] In one embodiment, a real-time speed limit is obtained based on the real-time distance of the medical device relative to the limit position, including: monitoring whether the medical device enters a deceleration zone; when the medical device is detected to enter the deceleration zone, obtaining the real-time speed limit based on the real-time distance of the medical device relative to the limit position.
[0117] The operator can apply horizontal thrust to the medical device, and the medical device will run towards the limit position under the action of the operator. If the medical device is far away from the limit position when it starts running, the current value of the pressure sensor corresponding to the operator can be allowed to be used as the current torque. This situation belongs to the situation where the speed limit strategy is not adopted.
[0118] Based on this, the user can set the deceleration zone according to actual needs. The deceleration zone is the area where the medical device needs to decelerate. When the medical device moves to the limit position under the action of the operator, it can be monitored in real time whether the medical device enters the deceleration zone. If not, the speed limit strategy can be not adopted. If so, the speed limit strategy can be adopted to execute steps S701 to S704.
[0119] In this embodiment, when the medical device moves toward the limit position under the action of the operator, it can be monitored in real time whether the medical device enters the deceleration zone. If not, it is unnecessary to adopt a speed limit strategy. If so, a speed limit strategy can be adopted to improve flexibility.
[0120] In one embodiment, monitoring whether the medical device enters the deceleration zone includes: monitoring the real-time distance of the medical device relative to the limit position; and determining whether the medical device enters the deceleration zone based on the real-time distance.
[0121] For example, the deceleration zone can be set as: an area formed by a position whose distance from the limit position is less than a set deceleration distance. In this case, when the medical device moves toward the limit position under the action of the operator, the real-time distance of the medical device relative to the limit position can be obtained, and the relative size between the real-time distance and the set distance value can be compared. According to the judgment result, it is determined whether the medical device enters the deceleration zone.
[0122] In this embodiment, based on the real-time distance of the medical device relative to the limit position, it can be simply and quickly determined whether the medical device has entered the deceleration zone, thereby improving processing efficiency.
[0123] In one embodiment, based on the real-time distance, determining whether the medical device has entered the deceleration zone includes: judging whether the real-time distance is equal to the set deceleration distance; when the real-time distance is equal to the set deceleration distance, determining that the medical device has entered the deceleration zone; when the real-time distance is greater than the set deceleration distance, determining that the medical device has not entered the deceleration zone.
[0124] After obtaining the real-time distance of the medical device relative to the limit position, the relative size between the real-time distance and the set deceleration distance can be determined. If the real-time distance is greater than the set deceleration distance, it indicates that the medical device has not entered the deceleration zone. If the real-time distance is equal to the set deceleration distance, it indicates that the medical device is at the boundary of the deceleration zone. If the real-time distance is less than the set deceleration distance, it indicates that the medical device is in the deceleration zone.
[0125] In this embodiment, based on the relative size between the real-time distance of the medical device relative to the limit position and the set deceleration distance, it can be quickly and easily determined whether the medical device is in the deceleration zone, thereby improving processing efficiency.
[0126] In one embodiment, a real-time speed limit is obtained based on the real-time distance of the medical device relative to the limit position, including: obtaining a corresponding table; the corresponding table includes: the maximum operating speeds corresponding to the medical device at different distances relative to the limit position; determining the maximum operating speed corresponding to the real-time distance in the corresponding table; and using the maximum operating speed corresponding to the real-time distance as the real-time speed limit.
[0127] A speed and position smooth curve may be preset, which describes the maximum operating speed of the medical device at different distances relative to the limit position. The speed and position smooth curve may have the following characteristics:
[0128] (1) When the medical equipment begins to enter the deceleration zone, the maximum operating speed decreases slowly and smoothly to avoid sudden deceleration;
[0129] (2) When the medical device reaches the limit position, the running speed is 0.
[0130] In order to meet the above feature (1), the correspondence table can be set as follows: the difference between the maximum running speeds corresponding to each distance in the initial deceleration distance segment is less than the set value.
[0131] In order to satisfy the above feature (2), the set stop speed can be set to 0.
[0132] In some scenarios, the velocity and position smooth curves are formed such as Figure 4 As shown, the x-axis is the distance of the medical device relative to the limit position, and the y-axis is the maximum operating speed corresponding to the distance, wherein the maximum maximum operating speed is 400 mm / s, and the deceleration zone may include a position within a distance of 0 to 750 mm from the limit position.
[0133] exist Figure 3 In the example shown, the speed and position smooth curve can be expressed by the following mathematical formula:
[0134] Where x is the distance of the medical device relative to the limit position, and f(x) is the maximum operating speed.
[0135] After obtaining the speed and position smooth curve, the maximum operating speed corresponding to each distance in the range of 0 to 750 mm can be taken out from the speed and position smooth curve with a step size of 0.5 mm. For example, the maximum operating speed corresponding to 0, the maximum operating speed corresponding to 0.5 mm, and the maximum operating speed corresponding to 1 mm can be taken out. Thus, a corresponding table can be formed. Therefore, the corresponding table includes the maximum operating speeds corresponding to the medical device at different distances relative to the limit position.
[0136] A corresponding table can be stored in advance; when the medical device moves toward the limit position under the action of the operator, after the computer device obtains the real-time distance of the medical device relative to the limit position, the distance matching the real-time distance can be determined in the corresponding table, and the maximum operating speed corresponding to the distance can be used as the maximum operating speed corresponding to the real-time distance, and the maximum operating speed can be used as the real-time limit speed.
[0137] In this embodiment, the maximum operating speed corresponding to the real-time distance is determined according to the maximum operating speeds corresponding to the medical device at different distances relative to the limit position included in the preset corresponding table, thereby improving processing efficiency.
[0138] In one embodiment, the method provided in the present application further includes: acquiring the real-time position of the medical device; and obtaining the real-time distance of the medical device relative to the limit position based on the real-time position and the limit position.
[0139] The real-time position of the medical device can be obtained with the help of a sensor with a positioning function. In some scenarios, the sensor with a positioning function may include a position encoder. In this case, a position encoder for the medical device can be pre-set, and the position encoder can be called a medical device position encoder. When the medical device moves to the limit position under the action of the operator, the computer device can obtain the real-time position of the medical device through the medical device position encoder, and obtain the real-time distance of the medical device relative to the limit position based on the distance between the real-time position and the pre-set limit position.
[0140] In order to better understand the above method, an application example of the medical device control method of the present application is described in detail below.
[0141] This application example includes the steps shown in Figure 5(a):
[0142] Step S801, reading the real-time location of the medical device;
[0143] Specifically, the operator can apply horizontal thrust to the medical device, and the medical device will move toward the limit position under the action of the operator. During this process, the real-time position of the medical device can be monitored and the real-time position feedback from the position encoder of the medical device can be obtained.
[0144] Step S802, calculating the real-time distance of the medical device relative to the limit position;
[0145] Specifically, based on the real-time position of the medical device and the pre-obtained limit position, the real-time distance of the medical device relative to the limit position is obtained. If the real-time distance is less than or equal to the set deceleration distance, it is determined that the medical device has entered the deceleration zone or is in the deceleration zone, and step S403 can be entered at this time.
[0146] Step S803, looking up a table to determine the maximum operating speed;
[0147] Specifically, after the computer device obtains the real-time distance of the medical device relative to the limit position, it can determine the distance matching the real-time distance in the corresponding table, and use the maximum operating speed corresponding to the distance as the maximum operating speed corresponding to the real-time distance.
[0148] Step S804, determining the current torque based on the maximum operating speed;
[0149] Specifically, the computer device uses the maximum operating speed as the real-time speed limit, and then enters the processing flow shown in FIG. 5( b ) to determine the current torque.
[0150] The processing flow shown in Figure 5(b) involves two levels of torque limiting. The first-level torque limiting is mainly used to adjust the current value of the pressure sensor corresponding to the operator to avoid exceeding the adjustment range of the speed limiter. The maximum torque used for the first-level torque limiting is called the first maximum torque. The second-level torque limiting is mainly used to make the medical equipment run smoothly and safely. The maximum torque used for the second-level torque limiting is called the second maximum torque.
[0151] Specifically, the processing flow shown in Figure 5(b) is as follows: after obtaining the current value of the pressure sensor corresponding to the operator, the current value of the pressure sensor can be adjusted according to the strategy corresponding to the first maximum torque and the first-level torque limit; based on the adjusted torque and the real-time speed limit, the speed limit regulator is used to process and obtain the corresponding torque, which is called the second-level adjustment torque; then, based on the strategy corresponding to the second-level adjustment torque, the second maximum torque and the second-level torque limit, the corresponding torque is obtained and used as the current torque.
[0152] The motor generates a corresponding force based on the current torque and acts on the medical device, assisting the operator to stop the operation of the medical device when it reaches the limit position. There is no need for brakes or other braking devices to take effect, and there will be no noise and vibration generated by the action of the braking device. When the operator needs to move in the opposite direction, there is no need to release the braking device, and the reverse movement can be responded to quickly. In addition, the deceleration control is performed based on the real-time distance of the medical device relative to the limit position, which can ensure that the medical device will not collide with the limit block at the limit position as much as possible, avoid uncomfortable impacts caused by collisions, and avoid safety risks caused by the life of the limit block due to excessive collisions. In addition, the smaller the real-time distance is, the closer the medical device is to the limit position, the smaller the corresponding real-time limit speed is and the closer it is to the set stop speed. This processing method does not require the operator to concentrate on controlling the position of the medical device when the medical device is close to the limit position, and can focus more on assisting the surgical process. At the same time, the closer it is to the limit position, the smaller the corresponding real-time limit speed is, the smoother the deceleration is, and the operator's sense of security is improved without worrying too much about collisions.
[0153] Based on the same inventive concept, the embodiment of the present application also provides a medical system, including: a medical device, a pressure sensor, a driving device and a control device;
[0154] The medical device is connected to the pressure sensor, and the pressure sensor is used to collect the force acting on the medical device;
[0155] The medical device is connected to the driving device, and the driving device is used to drive the medical device to move;
[0156] The pressure sensor is electrically connected to the control device, and the control device is used to determine the torque of the driving device according to the relationship function between the value of the pressure sensor and the torque of the driving device;
[0157] The control device is electrically connected to the driving device, and the control device is also used to control the driving device according to the torque to drive the medical device to move.
[0158] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 6As shown. The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a medical device control method is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covered on the display screen, or a button, trackball or touchpad set on the computer device housing, or an external keyboard, touchpad or mouse, etc.
[0159] Those skilled in the art will understand that Figure 6 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.
[0160] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the medical device control method described in any of the above embodiments are implemented.
[0161] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the steps of the medical device control method described in any of the above embodiments.
[0162] Unless otherwise defined, the technical terms or scientific terms involved in this application shall have the general meaning understood by people with ordinary skills in the technical field to which this application belongs. The words "one", "a", "a", "the", "these" and the like in this application do not represent quantitative restrictions, and they can be singular or plural. The terms "include", "comprise", "have" and any variants thereof involved in this application are intended to cover non-exclusive inclusions; for example, a process, method and system, product or device comprising a series of steps or modules (units) is not limited to the listed steps or modules (units), but may include unlisted steps or modules (units), or may include other steps or modules (units) inherent to these processes, methods, products or devices. The words "connect", "connected", "coupled" and the like involved in this application are not limited to physical or mechanical connections, but may include electrical connections, whether directly or indirectly. The "multiple" involved in this application refers to two or more. "And / or" describes the association relationship of associated objects, indicating that there can be three relationships. For example, "A and / or B" can mean: A exists alone, A and B exist at the same time, and B exists alone. Usually, the character " / " indicates that the objects associated with each other are in an "or" relationship. The terms "first", "second", "third", etc. involved in this application are only used to distinguish similar objects and do not represent a specific ordering of the objects.
[0163] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.
[0164] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.
[0165] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0166] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.
Claims
1. A medical device control method, characterized in that: include: Get the current value of the pressure sensor; The pressure sensor is used to collect the force acting on the medical device; Acquire a mapping relationship between the value of the pressure sensor and the torque of a driving device; the driving device is used to drive the medical device to move, and the mapping relationship is determined according to the movement phase of the medical device; Determining a current torque of the driving device according to the mapping relationship and a current value of the pressure sensor; The medical device is controlled according to the current torque.
2. The medical device control method according to claim 1, characterized in that: The method further comprises: Determine a relationship function that matches at least one movement phase of the medical device, the movement phase being determined according to a current value of the pressure sensor and a pressure threshold, the relationship function being used to characterize a relationship between a torque of the drive device and a change in a value of the pressure sensor; The mapping relationship is determined according to the relationship function.
3. The medical device control method according to claim 2, characterized in that: The pressure threshold comprises a first preset value, and the determining of a relationship function matching at least one movement phase of the medical device comprises: If the current value of the pressure sensor is less than the first preset value, determining that the exercise stage is a start-up stage; A first slope of the startup phase is determined, and the relationship function is determined based on the first slope, wherein the first slope is positively correlated with the value of the pressure sensor, and the first slope includes a rate of change of the torque with respect to the value of the pressure sensor.
4. The medical device control method according to claim 3, characterized in that: The pressure threshold comprises a second preset value, and the determining of a relationship function matching at least one movement phase of the medical device comprises: If the current value of the pressure sensor is greater than or equal to the first preset value and less than the second preset value, it is determined that the exercise stage is an intermediate stage, and the second preset value is greater than the first preset value; A second slope of the intermediate stage is determined, and the relationship function is determined based on the second slope, wherein the second slope is positively correlated with the value of the pressure sensor, and the second slope includes a rate of change of the torque with respect to the value of the pressure sensor.
5. The medical device control method according to claim 4, characterized in that: The second slope is greater than or equal to the first slope.
6. The medical device control method according to claim 4, characterized in that: The pressure threshold comprises a third preset value, and the determining of a relationship function matching at least one movement phase of the medical device comprises: If the current value of the pressure sensor is greater than or equal to the second preset value and less than the third preset value, it is determined that the exercise stage is the third stage, and the third preset value is greater than the second preset value; A third slope of the third stage is determined, and the relationship function is determined based on the third slope, wherein the third slope is negatively correlated with the value of the pressure sensor, and the third slope includes a rate of change of the torque with respect to the value of the pressure sensor.
7. The medical device control method according to claim 6, characterized in that: The third slope is smaller than the second slope.
8. The medical device control method according to any one of claims 2 to 7, characterized in that: The relationship function is a continuous curve function.
9. The medical device control method according to claim 1, characterized in that: The method further comprises: When the medical device moves toward the limit position under the action of the operator, a real-time limit speed is obtained based on the real-time distance of the medical device relative to the limit position; Obtaining an actual operating speed of the medical device; Determining whether the actual running speed is greater than the real-time speed limit; If the actual operating speed of the medical device is greater than the real-time limit speed, the current torque is obtained based on the real-time limit speed, so that the motor generates a force on the medical device according to the current torque.
10. A medical system, characterized in that: include: Medical equipment, pressure sensors, drive equipment and control equipment; The medical device is connected to the pressure sensor, and the pressure sensor is used to collect the force acting on the medical device; The medical device is connected to the driving device, and the driving device is used to drive the medical device to move; The pressure sensor is electrically connected to the control device, and the control device is used to determine the torque of the driving device according to the relationship function between the value of the pressure sensor and the torque of the driving device; The control device is electrically connected to the driving device, and the control device is also used to control the driving device according to the torque to drive the medical device to move.