Remote control system and control method based on fundus examination robot

Abstract

The invention relates to the technical field of remote control systems, in particular to a remote control system based on a fundus examination robot. Comprising a control end device and an operation end device. The control end device comprises a first control module, and an operation module, a display module and a first communication module which are connected with the first control module; the operation end device comprises a second control module, and a driving module, a camera module and a second communication module which are connected with the second control module, and a motion module which is connected with the driving module and the camera module; according to the scheme, whether the position of the fundus camera needs to be adjusted or not can be judged remotely through the image information, so that alignment focusing of the fundus camera and the pupil is completed, fundus examination is conducted through remote use of the camera module, a new examination scheme is provided for fundus examination, medical resource sharing among regions is achieved, remote medical treatment is achieved, and the examination efficiency is improved. Medical peaceful treatment is promoted, and obstacles caused by time and space to medical inquiry are overcome.

Description

Technical Field

[0001] The present invention relates to the technical field of remote control systems, and more specifically to a remote control system based on a fundus examination robot. Background Art

[0002] A fundus camera is a medical recording instrument that uses the principle of optical imaging to form images for large-scale retinal magnification imaging of the fundus and retinal fluorescein angiography. In order to align the fundus camera with the pupil, the fundus camera is usually used in conjunction with a fundus examination robot. However, the portability of fundus examination equipment is poor, and professional medical workers are required to operate on-site where the patient is located, so the labor cost is high. These disadvantages have hindered its application in areas with scarce medical resources.

[0003] In the prior art, in order to overcome the disadvantage of portability, a solution is a handheld fundus camera, which has greater advantages in terms of portability, but is also accompanied by a decline in the examination effect and use comfort. Moreover, this device still requires a doctor to operate the device on-site for examination. Currently, some existing remote examination solutions can only use methods such as video conferencing and telephone to guide on-site personnel to operate. Due to the existence of complex medical devices in fundus examination, the operation difficulty is high. This indirect operation method by doctors will still cause inconvenience to the examination to a certain extent. Summary of the Invention

[0004] The present invention provides a remote control system based on a fundus examination robot, aiming to overcome the obstacles caused by time and space to seeking medical advice through telemedicine.

[0005] The above object is achieved by the following technical solutions:

[0006] A remote control system based on a fundus examination robot includes a control end device and an operation end device;

[0007] The control end device includes a first control module, and an operation module, a display module, and a first communication module connected to the first control module;

[0008] The operation end device includes a second control module, and a drive module, a camera module, and a second communication module connected to the second control module, and a motion module connected to the drive module and the camera module; The first communication module and the second communication module are connected by wire or wirelessly.

[0009] A remote control method based on a fundus examination robot uses the above remote control system based on a fundus examination robot, and includes the following steps:

[0010] S1. The camera module collects the current position image and uploads it to the second control module;

[0011] S2. The second control module controls the second communication module to transmit the image data back to the first communication module;

[0012] S3. The first communication module transmits the image data to the first control module, and the first control module displays the real-time image through the display module;

[0013] S4. The operator reads the image information through the display module screen;

[0014] S5. The operator determines whether position adjustment is needed based on the image information. If not, the operator inputs a camera enable instruction to start using the camera module for fundus examination, and the process ends after the examination. If so, the operator inputs a position control instruction through the operation module, such as a motion control enable instruction and a movement instruction;

[0015] S6. After the operator inputs the instruction, the first control module collects the operation module signal and performs calculations;

[0016] S7. The calculated instruction signal is sent through the first communication module, and the second communication module receives the instruction signal;

[0017] S8. The second control module analyzes and decodes the signal and converts it into a motor control instruction through calculation;

[0018] S9. The drive module controls the motion module according to the output of the second control module;

[0019] S10. The motion module operates according to the requirements to drive the motion module to move in space, and the camera module reaches the expected position of the instruction to collect images and upload them to the second control module.

[0020] 10. The remote control method based on the fundus examination robot further includes:

[0021] S11. Jump to step one;

[0022] After working in a loop until the fundus examination is completed, the operation ends.

[0023] The beneficial effects of the remote control system based on the fundus examination robot of the present invention are:

[0024] The organic combination of remote communication with the fundus camera and the multi-axis motion mechanism enables remote judgment based on image information on whether position adjustment of the fundus camera is needed, thereby completing the alignment and focusing of the fundus camera and the pupil, remotely using the camera module for fundus examination, providing a new examination scheme for fundus examination, facilitating the sharing of medical resources between regions, enabling remote medical treatment, promoting medical equality, and overcoming the obstacles caused by time and space for seeking medical advice. Brief Description of the Drawings

[0025] Figure 1 Schematic diagram of a remote control system based on a fundus examination robot;

[0026] Figure 2 Flowchart of the control method of a remote control system based on a fundus examination robot. Detailed implementation manners

[0027] The remote control system based on a fundus examination robot includes a control end device and an operation end device;

[0028] Among them, the control end device includes a first control module, and an operation module, a display module and a first communication module connected to the first control module;

[0029] Among them, the operation end device includes a second control module, and a drive module, a camera module and a second communication module connected to the second control module, and a motion module connected to the drive module and the camera module; the second control module can process the input instructions and perform calculations, and convert them into a format that can be sent through the second communication module;

[0030] Among them, the operation module can use one or more of an operation handle, a keyboard and a virtual reality wearable device to achieve human-computer interaction; the two control modules can use an industrial control computer in the prior art.

[0031] Furthermore, the first communication module and the second communication module are connected, and the connection method is wired or wireless connection, preferably wireless communication, such as but not limited to 3G, 4G, 5G, Wi-Fi and Bluetooth; the two communication modules are used to realize the instruction transmission from the control end device to the operation end device, and the image transmission from the operation end device to the control end device.

[0032] Specifically, the camera module includes a fundus camera, which is the main body for fundus examination. Refer to Figure 2 , the camera module sends the image information back to the second control module, and the second control module transmits the image information through the second communication module, the first communication module and the first control module in sequence, so as to be transmitted to the display module. The display module is used to display the image transmitted back by the camera module of the operation end device, which is convenient for doctors to remotely observe the image;

[0033] Furthermore, the second control module is used to analyze the received motion instructions and convert them into control instructions for the motors of the fundus examination robot to control the drive module;

[0034] Specifically, the driving module includes an Elmo driver, and the motion module includes a multi-axis motion mechanism, preferably an XYZ three-axis motion mechanism. The XYZ three-axis motion mechanism can adopt a ball screw XYZ three-axis slide table in the prior art. By using a motor to drive the screw to rotate, the screw drives the slide table to move linearly. At this time, the control instruction of the driving module acts on the motor of the multi-axis motion mechanism to displace the slide table, thereby driving the fundus camera to move and changing the spatial position of the fundus camera. The driving module drives the motion module according to the instruction of the second control module. The three-axis motion structure of the fundus examination robot moves as expected under the drive of the motor, and moves the camera module to the specified position.

[0035] A remote control method for a fundus examination robot includes the following steps:

[0036] S1. The camera module collects the image at the current position and uploads it to the second control module;

[0037] S2. The second control module controls the second communication module to transmit the image data back to the first communication module;

[0038] S3. The first communication module transmits the image data to the first control module, and the first control module displays the real-time image through the display module;

[0039] S4. The operator reads the image information through the display module screen;

[0040] S5. The operator determines whether position adjustment is required based on the image information. If not, the operator inputs a camera enable instruction and starts using the camera module for fundus examination. After the examination, the process ends. If so, the operator inputs a position control instruction through the operation module, such as a motion control enable instruction and six-direction movement instructions;

[0041] S6. After the operator inputs the instruction, the first control module collects the signal of the operation module and performs calculations;

[0042] S7. The calculated instruction signal is sent through the first communication module, and the second communication module receives the instruction signal;

[0043] S8. The second control module analyzes and decodes the signal and converts it into a motor control instruction through calculation;

[0044] S9. The driving module controls the motion module according to the output of the second control module;

[0045] S10. The motion module operates according to the requirements, drives the motion module to move in space, the camera module reaches the expected position of the instruction to collect the image and uploads it to the second control module, and jumps to step one;

[0046] After looping until the examination is completed, the operation ends.

Claims

1. A remote control system based on a fundus examination robot, including a control terminal device and an operation terminal device; The control end device includes a first control module, and an operation module, a display module and a first communication module connected to the first control module; The operating end device includes a second control module, a drive module, a camera module and a second communication module connected to the second control module, and a motion module connected to the drive module and the camera module; the first communication module and the second communication module are connected by wire or wirelessly.

2. According to the remote control system based on the fundus examination robot according to claim 1, the first communication module and the second communication module are connected wirelessly.

3. According to the remote control system based on the fundus examination robot according to claim 2, the wireless connection includes one or more of Bluetooth, Wi-Fi and mobile communication technologies.

4. According to the remote control system based on the fundus examination robot as described in claim 1, the first control module and the second control module are both industrial computers. 5 . The remote control system based on the fundus examination robot according to claim 1 , wherein the camera module comprises a fundus camera.

6. According to the remote control system based on the fundus examination robot according to claim 1, the driving module includes an ELMO driver.

7. According to the remote control system based on the fundus examination robot according to claim 1, the motion module includes a multi-axis motion mechanism for adjusting the position of the camera module.

8. According to the remote control system based on the fundus examination robot according to claim 1, the operation module is one or more of a handle, a keyboard and a virtual reality wearable device.

9. A remote control method based on a fundus examination robot, characterized in that: The remote control system based on the fundus examination robot according to any one of claims 1 to 9 comprises the following steps: S1, the camera module collects the current position image and uploads it to the second control module; S2, the second control module controls the second communication module to transmit the image data back to the first communication module; S3, the first communication module transmits the image data to the first control module, and the first control module displays the real-time image through the display module; S4, the operator reads the image information through the display module screen; S5. The operator determines whether position adjustment is required based on the image information. If not, the operator inputs a camera enable command and starts using the camera module to perform fundus examination. The process ends after the examination. If yes, the operator inputs a position control command, such as a motion control enable command and a movement command, through the operation module. S6, after the operator inputs the instruction, the first control module collects the operation module signal and performs calculation; S7, sending the calculated command signal through the first communication module, and the second communication module receiving the command signal; S8, the second control module analyzes and decodes the signal and converts it into a motor control instruction through calculation; S9, the driving module controls the motion module according to the output of the second control module; S10, the motion module is driven to move in space according to the requirement, and the camera module reaches the expected position of the instruction to collect images and upload them to the second control module.

10. The remote control method based on the fundus examination robot further includes: S11, jump to step 1; After the cycle is completed until the fundus examination is completed, the operation is terminated.

Images