Pedal control method, system and equipment for ophthalmologic operation and medium

Abstract

The invention relates to a pedal control method, system and device for ophthalmologic surgery and a medium, and belongs to the technical field of ophthalmologic surgery operation.The pedal control method comprises the steps that the identity of a doctor using a pedal is recognized, and preset preference parameters are loaded according to the identity of the doctor; reading real-time data of the operating microscope host; according to the real-time data, identifying a to-be-switched operation mode, and calculating the emergency degree of the to-be-switched operation mode in combination with the preference parameters; according to the preference parameters, the operation mode to be switched is distributed to a pedal habitual area; according to the emergency degree, the main control area of the pedal habitual area is calculated, a shape memory alloy unit of the main control area is controlled to protrude so as to protrude the operation mode operation area to be switched, and other operation mode areas are controlled to be distributed according to the remaining area in an equal proportion mode. The method has the advantages that a doctor can accurately operate the pedal, and time waste and misoperation caused by searching for an operation area are reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ophthalmic surgery operation, and in particular to a foot pedal control method, system, device and medium for ophthalmic surgery. BACKGROUND

[0002] In ophthalmic surgery, the doctor needs to be highly focused on the operation, and frequently switches between different operation modes to cope with various complex situations. The operation microscope, as a key device for ophthalmic surgery, its main machine real-time data reflects the progress and needs of the operation. And the foot pedal, as an important tool for the doctor to control the operation equipment, its convenience, accuracy and individuality of operation directly affect the efficiency and quality of the operation.

[0003] At present, the common foot pedal for ophthalmic surgery on the market is mostly of traditional fixed mode design. These foot pedals usually have multiple preset function areas, and the doctor needs to switch between different operation modes by memory and manual operation, which is easy to cause the doctor to make mistakes in the operation process due to inconvenient operation. For example, in the emergency operation mode, the doctor may not be able to quickly find the corresponding operation area due to nervousness, resulting in prolonged operation response time, affecting the best opportunity for the operation, and thus may adversely affect the operation effect of the patient. SUMMARY

[0004] In order to enable the doctor to accurately operate the foot pedal and reduce the time waste and mistakes caused by searching for the operation area, the present application provides a foot pedal control method, system, device and medium for ophthalmic surgery.

[0005] In a first aspect, the present application provides a foot pedal control method for ophthalmic surgery, which adopts the following technical solution: A foot pedal control method for ophthalmic surgery, comprising: identifying the identity of the doctor using the foot pedal, and loading preset preference parameters according to the identity of the doctor; reading the real-time data of the main machine of the operation microscope; According to the real-time data, identifying the operation mode to be switched, and calculating the emergency degree of the operation mode to be switched in combination with the preference parameters; According to the preference parameters, the operation mode to be switched is assigned to the foot pedal habitual area; According to the emergency degree, calculate the main control area of the foot pedal habitual area, and control the shape memory alloy unit of the main control area to protrude, so as to highlight the operation area of the operation mode to be switched, and control the other operation area to be switched according to the remaining area in proportion.

[0006] By adopting the technical scheme, the setting of the foot pedal can conform to the operation habit of each doctor by identifying the doctor's identity and loading preset preference parameters. Real-time data of the surgical microscope main machine are read, and the surgical mode to be switched is identified according to the real-time data, so that the foot pedal can respond in time according to the actual progress of the surgery. The surgical mode to be switched is distributed to the foot pedal habit area, so that the doctor can operate the foot pedal more naturally and accurately, reduces the time waste and misoperation caused by searching for the operation area, and improves the accuracy of the surgical operation. The distribution mode of the shape memory alloy unit protrusion of the control main control area can highlight the operation area of the emergency surgical mode, remind the doctor to handle the emergency first, and reasonably utilize the space of the foot pedal, so as to ensure that each surgical mode has a suitable operation area.

[0007] Optionally, the step after the shape memory alloy unit of the control main control area is protruded includes: According to the urgency, a vibration frequency is calculated; According to the preference parameters and the real-time data, a vibration amplitude is calculated; According to the vibration frequency and the vibration amplitude, the main control area is controlled to vibrate.

[0008] By adopting the technical scheme, the control main control area is controlled to vibrate, which can provide additional tactile guidance for the doctor, and help the doctor to more accurately locate and operate the main control area of the foot pedal. Especially during the surgery, the doctor's hands and eyes mainly focus on the surgical site, and the vibration feedback can make the doctor more clearly perceive the operation position of the foot pedal, and reduce the possibility of misoperation.

[0009] Optionally, the step after the shape memory alloy unit of the control main control area is protruded includes: Based on the real-time data of the surgical microscope main machine and the operation complexity of the surgical mode to be switched, the protrusion height and the response sensitivity of the shape memory alloy unit are dynamically adjusted.

[0010] By adopting the technical scheme, the protrusion height is adjusted according to the operation complexity, which avoids unnecessary obstacles brought to the doctor by the too high protrusion in simple operation, and prevents the doctor from being difficult to accurately find the operation area due to the too low protrusion in complex operation. The reasonable protrusion height can make the doctor operate the foot pedal more naturally and comfortably, and reduce the fatigue caused by inconvenient operation. The response sensitivity is dynamically adjusted, so that the reaction speed of the foot pedal can adapt to the operation rhythm of the doctor.

[0011] Optionally, the foot pedal control method further includes: The pressure of the foot pedal is monitored, and whether the operation of the surgical mode to be switched is effective is judged according to the pressure data; If yes, a control instruction is generated; If not, the type of invalid intention is identified, the invalid intention type including insufficient master area pressure and area error; According to the invalid intention type, a hierarchical tactile alarm is triggered: If the master area pressure is insufficient, the master area is controlled to perform rapid, slight, and pulsating vibration; If the area error occurs, the error touch area is controlled to perform strong, low-frequency, and high-amplitude humming vibration, and the master area remains high-frequency steady vibration.

[0012] By adopting the above technical solutions, the pressure of the foot pedal is monitored, and whether the operation of the to-be-switched surgical mode is valid is judged according to the pressure data, so that the issuance of an incorrect instruction caused by an error touch or an unstandard operation can be avoided. When the operation is invalid, a hierarchical tactile alarm is triggered according to different invalid intention types, so that the doctor can perceive the error condition of the operation through tactile feedback. This feedback mode is more direct and timely than visual or auditory feedback, especially during the operation process, the doctor's attention is mainly concentrated on the operation site, and the tactile alarm can enable the doctor to quickly understand the operation problem without dispersing too much attention.

[0013] Optionally, the foot pedal control method further includes: After the operation is completed, the invalid operation event and the response time length of the valid operation are recorded; According to the invalid operation event and the response time length, the preference parameter is adjusted; When the emergency degree is detected as 0, the area layout on the foot pedal returns to the default state.

[0014] By adopting the above technical solutions, through continuous optimization of the preference parameter, the doctor can operate the foot pedal more smoothly and accurately in subsequent operations, thereby improving the overall efficiency and accuracy of the operation. When the emergency degree is detected as 0, the area layout on the foot pedal returns to the default state, which helps to ensure that the state of the foot pedal returns to the initial standard setting after the operation, and prepares for the next operation.

[0015] Optionally, the foot pedal control method further includes: During the operation, the operation pressure parameters of the doctor on the foot pedal are continuously monitored, the operation pressure parameters including pressure distribution, change frequency, and peak value; Based on a preset fatigue model and the operation pressure parameters, the operation fatigue degree score of the doctor is calculated; When the operation fatigue degree score exceeds a fatigue degree threshold, the area of the master area is automatically expanded and / or a tactile prompt is generated.

[0016] By adopting the technical scheme, the fatigue state of the doctor can be learned in real time, and when the operation fatigue exceeds the fatigue threshold, the system automatically takes measures, such as expanding the area of the main control area and / or generating a tactile prompt. Expanding the area of the main control area can reduce the accuracy requirement of the operation of the doctor and reduce the probability of misoperation caused by fatigue; the tactile prompt can remind the doctor of the current fatigue state without distracting the doctor too much, so as to prompt the doctor to adjust the state or take appropriate rest, thereby preventing operation errors caused by fatigue and ensuring the smooth progress of the operation and the safety of the patient.

[0017] Optionally, the foot pedal control method further comprises: During the operation, the angle change data of the feet of the doctor is collected in real time; According to the angle change data and the preference parameter, it is judged whether the current foot pedal position exceeds the comfortable operation angle of the doctor; If yes, the shape memory alloy unit is controlled to adjust the inclination angle of the foot pedal, so that the feet return to the comfortable area.

[0018] By adopting the technical scheme, by timely adjusting the inclination angle of the foot pedal, the feet of the doctor can be kept in a comfortable operation angle, so that a more stable operation posture can be maintained. The stable posture is beneficial to the doctor to control the foot pedal more accurately and reduce misoperation caused by unstable posture.

[0019] In a second aspect, the application provides a foot pedal control system for ophthalmic surgery, which adopts the following technical scheme: A foot pedal control system for ophthalmic surgery comprises: An identity recognition module is configured to recognize the identity of a doctor using the foot pedal and load a preset preference parameter according to the identity of the doctor; A data acquisition module is configured to read real-time data of an operation microscope host; A data processing module is configured to identify an operation mode to be switched according to the real-time data, and calculate the urgency of the operation mode to be switched in combination with the preference parameter; A main control area processing module is configured to assign the operation mode to be switched to a foot pedal dominant area according to the preference parameter, calculate the area of the main control area of the foot pedal dominant area according to the urgency, and control the shape memory alloy unit of the main control area to protrude to highlight the operation area of the operation mode to be switched and control the other operation areas of the operation modes to be switched to be distributed in the remaining area in equal proportion.

[0020] In a third aspect, the application provides a computer device, which adopts the following technical scheme: A computer device includes a memory, a processor, and a computer program stored on the memory, the processor executing the computer program to implement the foot pedal control method for ophthalmic surgery as claimed in the first aspect.

[0021] In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solution: A computer-readable storage medium stores a computer program capable of being loaded and executed by a processor to implement the foot pedal control method for ophthalmic surgery as claimed in the first aspect.

[0022] In summary, the present application includes at least one of the following beneficial technical effects: By identifying the doctor's identity and loading the preset preference parameters, the settings of the foot pedal can conform to the operation habits of each doctor. The real-time data of the surgical microscope host is read, and the surgical mode to be switched is identified accordingly, so that the foot pedal can respond in a timely manner according to the actual progress of the surgery. The surgical mode to be switched is assigned to the foot pedal habit area, so that the doctor can operate the foot pedal more naturally and accurately, reduce the time waste and misoperation caused by searching for the operation area, and improve the accuracy of the surgical operation. The shape memory alloy unit of the control master area makes the distribution mode of the protruding control master area highlight the operation area of the emergency surgical mode, reminding the doctor to prioritize the emergency situation, while reasonably utilizing the space of the foot pedal to ensure that each surgical mode has a suitable operation area. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 is the first flowchart of the method embodiment of the present application; Figure 2 is the second flowchart of the method embodiment of the present application; Figure 3 is the third flowchart of the method embodiment of the present application; Figure 4 is the fourth flowchart of the method embodiment of the present application; Figure 5 is the fifth flowchart of the method embodiment of the present application. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical scheme and advantages of the present application clearer, the following will combine the drawings with the embodiments to further illustrate the present application. It should be understood that the specific embodiments described herein are only used to explain the present application and not to limit the present application. Figures 1-5 The first embodiment of the present application discloses a foot pedal control method for ophthalmic surgery. Referring to

[0025] The foot pedal control method can include S110-S150: Figure 1 ​S110, identify the identity of the doctor using the foot pedal, and load the preset preference parameters according to the identity of the doctor; S120, read the real-time data of the surgical microscope host; S130, according to the real-time data, identify the surgical mode to be switched, and calculate the urgency of the surgical mode to be switched in combination with the preference parameters; S140, according to the preference parameters, assign the surgical mode to be switched to the foot pedal habit area; S150, according to the urgency, calculate the area of the main control area of the foot pedal habit area, and control the shape memory alloy unit of the main control area to protrude, so as to highlight the operation area of the surgical mode to be switched, and control the other operation areas of the surgical mode to be switched in proportion to the remaining area.

[0026] In addition, after controlling the shape memory alloy unit of the main control area to protrude, it is also necessary to dynamically adjust the protrusion height and response sensitivity of the shape memory alloy unit based on the real-time data of the surgical microscope host and the operation complexity of the surgical mode to be switched.

[0027] Specifically, in the S110 identity recognition and parameter loading stage, the system first collects the pressure distribution data when the doctor steps on the foot pedal through the high-density pressure sensor array integrated on the surface of the foot pedal. The high-density pressure sensor array can use a 1024-point flexible film sensor, and the sampling frequency is set to 1 kHz. Then the original pressure data is preprocessed, the arch feature parameters (including arch area pressure gradient, concave depth ratio, support point distribution entropy value) and pressure center (COP) trajectory features (such as trajectory length, curvature change rate, residence time distribution) are extracted, and the trained convolutional neural network (CNN) and recurrent neural network (RNN) fusion model is used for identity matching. The model input is the pressure distribution image matrix and the COP trajectory time series data, and the output is the identity confidence. The threshold of the identity confidence can be set to 95%.

[0028] After identity confirmation, the preset preference parameters of the doctor are loaded from the local encrypted database. The preference parameter set includes habit area location coordinates (normalized coordinates based on foot length ratio), pressure sensitivity coefficient (0.1-1.0 adjustable), vibration tolerance level, fatigue adaptation coefficient, touch sensitivity coefficient, trigger factor multiple core parameters, etc. The modification of the parameters is traceable through blockchain technology.

[0029] In the real-time data interaction and pattern recognition link of S120-S130, the system establishes a bidirectional data channel with the surgical microscope host through a standard communication protocol (such as TCP / IP or a special API interface), continuously reads the real-time running state, and the running state includes the current magnification, focal length, illumination intensity, focusing mode, whether in video recording / photographing state, instrument type identification signal, and surgical stage markers (such as incision, hemostasis, suture, etc.). These data not only reflect the current operating environment, but also provide context support for the prediction of mode switching intention.

[0030] The system combines the real-time working state of the microscope and the loaded doctor preference parameters, and uses a decision model based on the combination of rule engine and machine learning to determine whether there is a demand for switching the surgical mode. For example, when the microscope is detected to be switched from the "observation" mode to the automatic focusing lock state and the doctor has a slight foot forward tendency, the system can infer that it may intend to switch to the "fine operation" mode; if the doctor's historical data shows that he often quickly switches to the laser coagulation function in similar situations, the candidate weight of this mode is further increased.

[0031] When there is a demand for switching the surgical mode, the urgency of the surgical mode to be switched is calculated, which is updated every 200 ms, and the urgency calculation uses a weighted summation model: E = a * C + b * F + c * H, where E represents the normalized urgency, ranging from 0 to 1, and the higher the value, the higher the urgency (0 is the lowest, and 1 is the highest); a, b, and c are weight coefficients, and their sum is 1; C is the criticality score of the current surgical process, ranging from 0 to 1; F is the functional attribute score of the target mode, ranging from 0 to 1; and H is the doctor's personal habit factor, ranging from 0 to 1.

[0032] C reflects the risk level of the current step of the surgery, which is based on the real-time surgical stage marker, C = current step risk score / maximum risk score, and the risk score is assigned by a pre-defined rule engine, for example: routine operation = 0.3, blood vessel exposure = 0.8, neural adjacent operation = 0.9, and the maximum risk score is normalized to 1 (corresponding to the highest risk scenario). F evaluates the inherent urgency of the target mode (such as "fine operation" or "laser coagulation"), which is based on its impact on the safety of the surgery, representing the mode urgency weight, and the weight is preset by the system, for example: routine zoom = 0.4, fine operation = 0.6, emergency hemostasis = 0.9, and the higher the weight value, the more critical the mode to immediate decision. H quantifies the influence of the doctor's operation habit on the urgency, H = doctor's habit score / maximum habit score, and the habit score is dynamically generated by a machine learning model, for example: conservative doctor = 0.6, average = 0.8, aggressive doctor = 1.0.

[0033] In addition, the urgency threshold can be dynamically adjusted based on the doctor's operation habits, and the urgency threshold = T * (1.2 - H), T is the basic threshold of urgency.

[0034] In the dynamic area configuration and tactile feedback control stage S140-S150, the spatial layout optimization and material characteristics are combined. First, according to the habitual area coordinates in the preference parameters, the K-means clustering algorithm is used to divide the foot pedal surface into the main control area and the auxiliary area, and the main control area area calculation follows the formula: main control area area = reference area × (1 + urgency × adjustment factor), and the maximum is not more than 60% of the total area. (SMA) can be integrated into the foot pedal surface using nickel-titanium alloy wire. The shape memory alloy unit adopts a distributed array layout, such as a 5×5 grid, with a unit size of 10mm×10mm. The temperature regulation is realized by pulse width modulation (PWM) control current, and then the protrusion height is controlled. The target protrusion height , is the basic height, unit: mm, is the tactile acuity coefficient.

[0035] In surgery, the protrusion height is not a fixed value, but is dynamically adjusted according to the operation complexity: the complexity can be evaluated by the number of currently called function combinations of the microscope, the degree of multi-task concurrency, and the action accuracy requirement, etc. to get a complexity score; when the complexity score is greater than the score threshold, it is determined that it is a high complexity scene, so the system appropriately increases the protrusion height of the main control area to enhance the tactile recognition, and at the same time, the response rate of the SMA unit is improved (i.e. the heating and cooling period is shortened), so that the doctor can perceive the area change faster and respond.

[0036] Referring to Figure 2 , the steps of controlling the shape memory alloy unit protrusion of the main control area include S210-S230: S210, calculating the vibration frequency according to the urgency; S220, calculating the amplitude according to the preference parameters and real-time data; S230, controlling the main control area vibration according to the vibration frequency and amplitude.

[0037] Specifically, the setting of the vibration frequency is directly related to the urgency level, and the specific parameters are mapped as: frequency = base frequency + urgency x vibration sensitivity coefficient. The amplitude is determined by the vibration tolerance level in the preference parameter and the current operation concentration, and the specific formula is: amplitude = base amplitude + (vibration tolerance coefficient x urgency), wherein the vibration tolerance coefficient is mapped based on the vibration tolerance level, and the higher the vibration tolerance level, the smaller the vibration tolerance coefficient; the urgency reflects the operation concentration, and the higher the urgency, the higher the operation concentration. Finally, the vibration characteristics of the main control area are jointly coded by the frequency and the amplitude, and are precisely controlled by the piezoelectric actuator or the micro electromagnetic motor to ensure efficient information transmission without disturbing the operation rhythm.

[0038] With reference to Figure 3 The foot pedal control method further comprises S310-S350: S310, monitoring the pressure of the foot pedal; S320, judging whether the operation of switching the surgical mode is valid according to the pressure data; S330, if yes, generating a control instruction; S340, if no, identifying the type of invalid intention; S350, triggering a hierarchical tactile alarm according to the type of invalid intention.

[0039] Specifically, the type of invalid intention includes insufficient pressure of the main control area and region error, if the pressure of the main control area is insufficient, the tactile alarm is to control the main control area to perform rapid and slight pulse vibration; if the region error, the tactile alarm is to control the error touch region to perform strong humming vibration with low frequency and high amplitude, and the main control area remains high-frequency steady vibration.

[0040] The pressure validity judgment adopts double-threshold detection: static threshold and dynamic threshold, the static threshold represents the minimum trigger pressure = average weight of the doctor x trigger factor; the dynamic threshold represents the pressure change rate > 0.5 N / ms, both of which meet the effective operation, generate the Modbus protocol control instruction, and the control instruction contains the mode code and the parameter value.

[0041] The invalid intention identification is realized by pressure distribution template matching, when the pressure of the main control area is insufficient, the pressure center offset from the region geometric center is > 30% and the peak pressure is < 60% of the static threshold; the region error is determined by the intersection over union (IoU) < 0.2 between the COP trajectory and the target region.

[0042] The haptic alarm adopts differential coding: when the master area is insufficient, the vibration motor can be driven to pulse vibration at 50Hz frequency and 0.2mm amplitude for 200ms on / 100ms off for 3 cycles; when the area is wrong, the error touch area can start the hum vibration at 8Hz and 1.5mm amplitude (duty cycle 50%), while the master area maintains the steady vibration at 30Hz and 0.5mm amplitude, forming spatial positioning guidance.

[0043] With reference to Figure 4 , the foot pedal control method further comprises S410-S440: S410, during the operation process, continuously monitoring the operation pressure parameters of the doctor on the foot pedal, the operation pressure parameters including pressure distribution, change frequency and peak value; S420, based on the preset fatigue model and the operation pressure parameters, calculating the operation fatigue degree of the doctor; S430, judging whether the operation fatigue degree exceeds the fatigue degree threshold; S440, if yes, automatically expanding the area of the master control area and / or generating a haptic prompt.

[0044] Specifically, by tracking the pressure distribution evolution trend, pressure change frequency (i.e. the number of pressure fluctuations per unit time) and peak pressure decay curve of the doctor's foot for a long time, the system can capture typical signs of fatigue, such as the gradual backward shift of the pressure center to the heel, uneven force, increased response delay, etc. Input these parameters into the preset physiological fatigue model (which integrates electromyographic signal decay law, hemodynamic response lag characteristics and psychological load accumulation effect), and output the operation fatigue degree score after weighted fusion. When the operation fatigue degree score exceeds the fatigue degree threshold, start the dual-mode intervention: spatial adjustment and haptic enhancement, spatial adjustment includes expanding the master control area by 20% and increasing the SMA unit protrusion height by 1mm; haptic enhancement includes increasing the vibration amplitude by 30% and reducing the response delay by 20ms.

[0045] With reference to Figure 5 , the foot pedal control method further comprises S510-S530: S510, during the operation process, real-time acquisition of the angle change data of the doctor's foot; S520, according to the angle change data and the preference parameters, judging whether the current foot pedal position exceeds the comfortable operation angle of the doctor; S530, if yes, controlling the shape memory alloy unit to adjust the inclination angle of the foot pedal to make the foot return to the comfortable area.

[0046] Specifically, by means of the inertial measurement unit (IMU) installed on the foot pedal base and the flexible angle sensor attached to the instep, the system collects the spatial posture angles of the doctor's foot relative to the lower leg in real time, including the pitch angle, roll angle and rotation angle, and compares them with the individual comfortable angle interval registered in S110. If it is detected that the current foot position deviates from the comfortable zone (such as prolonged plantar flexion causing excessive tension of the ankle), the system starts the closed-loop adjustment mechanism, which forms a gradient lifting or tilting deformation by heating the multiple SMA units distributed on the surface of the foot pedal in batches, pushing the foot pedal as a whole or locally to slowly change the overall tilt angle, with an adjustment rate ≤ 2° / s, to avoid abrupt movement causing discomfort, and gradually guide the foot back to the comfortable operation zone.

[0047] In addition, after the operation is completed, it is also necessary to record the invalid operation event and the response time length of the effective operation; and adjust the preference parameters according to the invalid operation event and the response time length; when detecting that the urgency degree is 0, the control area layout on the foot pedal is restored to the default state.

[0048] Specifically, after the operation is completed, the system automatically counts the operation data: invalid operation event classification record (region error ratio, insufficient pressure times), effective operation response time length distribution.

[0049] The parameter adjustment adopts a reinforcement learning algorithm, taking the invalid operation rate and the response time length as reward and punishment signals, and updating the preference parameters through a Q learning algorithm: when the region error rate is > 15%, the habitual region coordinates are offset by 5% towards the high-frequency effective operation point; when the response time length is > 500 ms, the pressure sensitivity coefficient is reduced by 0.1. When the urgency degree is 0 for 5 seconds (such as the end or pause of the operation), the system triggers the reset process: the SMA unit is powered off to restore the flat state, the vibration motor is stopped, the region layout is restored to the default, and all parameters are reset to the initial value. At the same time, the operation log accumulated in this operation is encrypted and uploaded to the cloud database for subsequent preference parameter iterative optimization, waiting for the next identity recognition; the operation log content includes the response time length, the invalid event type, the fatigue warning times, the angle correction record, etc.

[0050] The implementation principle of the embodiment is: By identifying the doctor's identity to load his preset preference parameters, continuously reading the real-time data output by the surgical microscope host, identifying the surgical mode to be switched, and according to the preference, the surgical mode to be switched is preferentially assigned to the habitual area of the foot pedal operation; based on the identified surgical mode to be switched and combined with the loaded doctor preference parameters, the system can also intelligently calculate the urgency of the mode, and the system dynamically adjusts the master area occupied by the surgical mode on the habitual area according to the calculated urgency, and the shape memory alloy unit integrated inside the foot pedal will deform according to the instruction, so that the master control area is raised and tactile feedback is performed, and other non-master control surgical mode areas on the foot pedal are then divided in proportion according to the remaining assignable area.

[0051] By monitoring the pressure data borne by the foot pedal in real time, the system can determine whether the doctor's operation intention is valid. If a valid operation intention is detected, the corresponding control instruction is immediately generated and executed; if it is judged as invalid operation, the specific type of invalid intention will be further identified, mainly including insufficient master area pressure (that is, although the stepping position is correct, the intensity applied does not reach the trigger threshold) and area error (that is, the stepping position deviates from the master control area or the target area). According to different invalid intention types, the system will trigger a hierarchical tactile alarm.

[0052] After the operation is completed, the system will automatically record the invalid operation events and the response time of valid operation during the entire operation process to adaptively adjust and optimize the original preference parameters. In addition, when the system detects that the urgency of the current surgical mode decreases to 0, all area layouts on the foot pedal will automatically restore to the default state, ready for the next surgical step or the next operation.

[0053] Considering the high precision and long time characteristics of ophthalmic surgery, during the operation, the system continuously monitors the operation pressure parameters of the doctor on the foot pedal and inputs the operation pressure parameters into the fatigue model to dynamically calculate the operation fatigue score of the doctor. When the score exceeds the preset fatigue threshold, the system will automatically start the fatigue relief mechanism.

[0054] In order to further ensure the comfort and accuracy of the doctor's operation, during the operation, the system will collect the angle change data of the doctor's feet in real time through the integrated sensor, and combined with the doctor's preset preference parameters, judge whether the current foot pedal position exceeds the doctor's comfortable operation angle. Once it is detected that it exceeds, the system will control the shape memory alloy unit inside the foot pedal to deform slightly, thereby changing the overall inclination angle or local support height of the foot pedal, guiding and assisting the doctor's feet to return to the comfortable operation area, reducing muscle tension and operation precision due to long-term maintenance of unnatural posture, and fundamentally improving the ergonomics experience and safety of surgical operation.

[0055] Based on the above method embodiments, the second embodiment of the present application discloses a foot pedal control system for ophthalmic surgery. The foot pedal control system for ophthalmic surgery of the embodiment of the present application can implement any of the above-mentioned foot pedal control methods for ophthalmic surgery, and the specific working process of each module in the foot pedal control system for ophthalmic surgery can refer to the corresponding process in the above-mentioned method embodiments.

[0056] For ease of understanding, the following is an example: a foot pedal control system for ophthalmic surgery, comprising: An identity recognition module is configured to recognize the identity of a doctor using the foot pedal and load preset preference parameters according to the identity of the doctor. A data acquisition module is configured to read real-time data of a surgical microscope host. A data processing module is configured to identify a surgical mode to be switched according to the real-time data and calculate the urgency of the surgical mode to be switched in combination with the preference parameters. A master area processing module is configured to assign the surgical mode to be switched to a foot pedal dominant area according to the preference parameters, calculate the area of the master control area of the foot pedal dominant area according to the urgency, and control the shape memory alloy unit of the master control area to protrude to highlight the operation area of the surgical mode to be switched and control the other operation areas of the surgical modes to be switched to be distributed in the remaining area in equal proportions.

[0057] The third embodiment of the present application provides a computer device, which can include a memory, a processor, and a computer program stored in the memory, and the processor executes the computer program to implement the foot pedal control method for ophthalmic surgery.

[0058] The memory can be in communication connection with the processor through a communication bus, and the communication bus can be an address bus, a data bus, a control bus, etc.

[0059] In addition, the memory can include a random access memory (RAM) and can also include a non-volatile memory (NVM), such as at least one disk memory.

[0060] The processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, etc.

[0061] The fourth embodiment of the present application provides a computer readable storage medium, which stores a computer program capable of being loaded by a processor and executing a foot pedal control method for ophthalmic surgery.

[0062] The computer readable storage medium can be any tangible medium that can contain or store the program for use by or in connection with the instruction execution system, apparatus, or device. The program code contained on the computer readable medium can be transmitted by any suitable medium, including but not limited to wireless, wire line, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0063] It should be noted that the computer device and the storage medium of the embodiments of the present application are electronic devices and storage media to which the ophthalmic surgery foot pedal control method is applied, and all the embodiments of the ophthalmic surgery foot pedal control method are applicable to the computer device and the storage medium, and can achieve the same or similar beneficial effects. For the computer device / storage medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the related parts can be referred to the part of the method embodiments.

[0064] Although the present application is described herein in conjunction with various embodiments, those skilled in the art will appreciate that other changes in the described embodiments can be understood and implemented upon viewing the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "one" does not exclude a plurality. A single processor or other unit can implement several functions listed in the claims. Some measures described in mutually different dependent claims can be combined and produce good results.

[0065] The above are preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. Any feature disclosed in the specification (including the abstract and the drawings) can be replaced by other equivalent or similar features unless specifically stated. That is, each feature is only an example of a series of equivalent or similar features unless specifically stated.

Claims

1. A foot pedal control method for ophthalmic surgery, characterized by, The method comprises: identifying the identity of the doctor using the foot pedal and loading preset preference parameters according to the identity of the doctor; reading real-time data of the surgical microscope host; identifying the surgical mode to be switched according to the real-time data, and calculating the urgency of the surgical mode to be switched in combination with the preference parameters; according to the preference parameters, assigning the surgical mode to be switched to the foot pedal habit area; according to the urgency, calculating the area of the master control area of the foot pedal habit area, and controlling the shape memory alloy unit of the master control area to protrude to highlight the operation area of the surgical mode to be switched, and controlling the other operation areas of the surgical mode to be switched to be distributed in the remaining area in equal proportion.

2. The foot pedal control method for ophthalmic surgery of claim 1, wherein, The steps after controlling the shape memory alloy unit of the master control area to protrude include: calculating the vibration frequency according to the urgency; calculating the amplitude according to the preference parameters and the real-time data; controlling the master control area to vibrate according to the vibration frequency and the amplitude.

3. The foot pedal control method for ophthalmic surgery of claim 2, wherein, The steps after controlling the shape memory alloy unit of the master control area to protrude further include: based on the real-time data of the surgical microscope host and the operation complexity of the surgical mode to be switched, dynamically adjusting the protrusion height and response sensitivity of the shape memory alloy unit.

4. The foot pedal control method for ophthalmic surgical procedures of claim 1, wherein, The foot pedal control method further comprises: monitoring the pressure of the foot pedal, and judging whether the operation of the surgical mode to be switched is valid according to the pressure data; if yes, generating a control instruction; if no, identifying the type of invalid intention, and the invalid intention type includes insufficient master control area pressure and area error; according to the invalid intention type, triggering a hierarchical tactile alarm: if the master control area pressure is insufficient, controlling the master control area to vibrate rapidly and slightly in pulse mode; if the area is wrong, control the mis-touch area to vibrate strongly in low frequency and high amplitude in humming mode, and the master control area keeps high frequency steady vibration.

5. The foot pedal control method for ophthalmic surgical procedures of claim 4, wherein, The foot pedal control method further comprises: after the operation is completed, recording the invalid operation event and the response time length of the valid operation; adjusting the preference parameters according to the invalid operation event and the response time length; when the urgency is detected to be 0, the area layout on the foot pedal returns to the default state.

6. The foot pedal control method for ophthalmic surgical procedures of claim 1, wherein, The foot pedal control method further comprises: during the operation, continuously monitoring the operation pressure parameters of the doctor on the foot pedal, including pressure distribution, change frequency and peak value; based on the preset fatigue model and the operation pressure parameters, calculating the operation fatigue score of the doctor; when the operation fatigue score exceeds the fatigue threshold, automatically expanding the area of the master control area and / or generating a tactile prompt.

7. The foot pedal control method for ophthalmic surgical procedures of claim 1, wherein, The foot pedal control method further comprises: during the operation, real-time acquisition of the angle change data of the doctor's feet; according to the angle change data and the preference parameters, judging whether the current foot pedal position exceeds the comfortable operation angle of the doctor; if yes, control the shape memory alloy unit to adjust the inclination angle of the foot pedal to make the feet return to the comfortable area.

8. A foot pedal control system for ophthalmic surgery, characterized by, The foot pedal control method for ophthalmic surgery according to any one of claims 1-7 comprises: an identity recognition module for identifying the identity of the doctor using the foot pedal and loading preset preference parameters according to the identity of the doctor; a data acquisition module for reading real-time data of the surgical microscope host; a data processing module, configured to identify a surgery mode to be switched according to the real-time data, and calculate an urgency of the surgery mode to be switched in combination with the preference parameter; a master area processing module, configured to assign the surgery mode to be switched to a footrest habitual area according to the preference parameter, calculate a master area of the footrest habitual area according to the urgency, and control a shape memory alloy unit of the master area to protrude to highlight an operation area of the surgery mode to be switched, and control other operation areas of surgery modes to be distributed in a remaining area in a proportionally equal manner.

9. A computer device, comprising: A computer program product comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the foot pedal control method for ophthalmic surgery according to any one of claims 1 to 7 when executing the program.

10. A computer-readable storage medium, characterized in that, A computer program product comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the foot pedal control method for ophthalmic surgery according to any one of claims 1 to 7 when executing the program.

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