Foot switch position information presentation method, operating microscope system and endoscope system

Abstract

The invention provides a foot switch position information presentation method, an operating microscope system and an endoscope system. The method comprises the steps that the relative position relation between the foot of an operator and a foot switch is obtained through a position sensing module; the relative position relation between the foot and the foot switch is displayed through a display module, so that an operator can obtain the relative position relation between the foot and the foot switch by observing the display module. According to the invention, the relative position relationship between the foot and the foot switch is perceived and visually displayed, so that an operator can conveniently know the relative position relationship between the foot and the foot switch by directly observing the display module without lowering the head to observe the foot switch, and the display module can also present the content related to the operation, so that the operation is more convenient. Therefore, the visual observation position of the operator has high consistency, and the attention of the operator is not distracted.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a method for presenting the position information of a foot switch, as well as a surgical microscope system and an endoscope system. Background Technology

[0002] The use of medical equipment is crucial to patient safety. During some surgeries, doctors can operate surgical instruments / medical devices manually and control the equipment via foot switches to perform related operations, such as controlling the working status of energy components or the movement of robotic arms. Since foot switches are usually placed in easily accessible locations for doctors, such as under the bed, they typically need to stop what they are doing, look down to check the position of their feet relative to the switch, and press it accurately. This inconveniences doctors and affects surgical efficiency. This is especially true for endoscopic systems and surgical microscopes, where the doctor's observation posture and field of vision are limited. The process of looking down to locate the foot switch when it needs to be pressed is highly distracting.

[0003] To address or at least partially address the aforementioned deficiencies, the present invention provides a method for presenting foot switch position information, as well as a surgical microscope system and an endoscope system. Summary of the Invention

[0004] This invention provides a method for presenting the position information of a foot switch, as well as a surgical microscope system and an endoscope system, to solve the shortcomings of the prior art where the operator needs to interrupt the operation and look down to find the foot switch in order to achieve the control operation, resulting in poor usability.

[0005] In a first aspect, the present invention provides a method for presenting the position information of a foot switch, comprising: The relative position of the operator's feet to the foot switch is obtained through the position sensing module; The relative position of the foot and the foot switch is displayed through the display module, so that the operator can obtain the relative position of the foot and the foot switch by observing the display module.

[0006] Optionally, displaying the relative position of the foot and the foot switch via a display module includes: Based on the relative positional relationship between the foot and the foot switch, a schematic diagram to be displayed is generated; The schematic diagram is displayed on the display module.

[0007] Optionally, the schematic diagram can be displayed in full screen, partially, or overlaid on the display module.

[0008] Optionally, the illustration can be shown or hidden.

[0009] Optionally, the schematic diagram may also include a function indicator for the foot switch, and / or a current status indicator for the foot switch.

[0010] The present invention also provides a medical device, comprising: a processing module, a position sensing module, a foot switch, and a display module; The position sensing module can collect the relative positional relationship between the foot and the foot switch and transmit it to the processing module; The processing module processes the relative positional relationship between the foot and the foot switch according to any of the aforementioned foot switch position information presentation methods, and displays it through the display module.

[0011] Optionally, the position sensing module includes a floor mat, on which a force sensor array is provided to detect the position of a foot step, and the foot switch is located in a preset area of ​​the floor mat.

[0012] Furthermore, the foot switch includes at least two; Each foot switch has a fixed position on the floor mat, and the processing module distinguishes different foot switches based on their positions; or, different foot switches have different weights, and the processing module distinguishes between different foot switches based on the pressure received.

[0013] Optionally, the position sensing module includes a foot accessory for the operator to wear, and the foot accessory or the foot switch is equipped with a position sensor that can detect the relative position of the foot accessory and the foot switch.

[0014] Furthermore, the position sensor is selected from any one or a combination of the following: an infrared sensor, an ultrasonic sensor, and an electromagnetic sensor.

[0015] Optionally, the position sensing module includes an electromagnetic navigation module, a first electromagnetic marker disposed on the operator's foot, and a second electromagnetic marker disposed on the foot switch; the position sensing module determines the relative positional relationship between the foot and the foot switch by tracking the first electromagnetic marker and the second electromagnetic marker.

[0016] The present invention also provides a surgical microscope system, comprising: a position adjustment module, an illumination module, an image acquisition module, a display module, a position sensing module, a foot switch, and a processing module; The position sensing module can collect the relative positional relationship between the foot and the foot switch and transmit it to the processing module; The processing module processes the relative positional relationship between the foot and the foot switch, and displays it through the display module.

[0017] The present invention also provides an endoscope system, comprising: an endoscope lens, a light source module, a processing module, a display module, a foot switch, and a position sensing module; The position sensing module can collect the relative positional relationship between the foot and the foot switch and transmit it to the processing module; The processing module processes the relative positional relationship between the foot and the foot switch using the foot switch position information presentation method, and displays it through the display module.

[0018] The present invention provides a method for presenting the position information of a foot switch, as well as a surgical microscope system and an endoscope system, which have at least the following beneficial effects: 1. The operator does not need to look down to observe the foot switch. They can directly observe the display module to easily understand the relative position of their foot and the foot switch. Moreover, the display module itself can also display content related to the surgery. This makes the operator's visual observation position highly consistent and will not distract their attention.

[0019] 2. In some implementations, the illustrations can be shown or hidden, which optimizes the information presentation effect.

[0020] 3. In some implementations, the function / status of the foot switch is indicated on the schematic diagram to reduce the operator's memory burden and lower the risk of misoperation.

[0021] 4. It provides various forms of position sensing modules, such as floor mats, shoe covers, exoskeletons, and electromagnetic navigation, to meet different cost and performance requirements.

[0022] 5. In some implementations, the foot switch is placed in a preset area of ​​the floor mat, and different foot switches are identified based on their location. In other implementations, the foot switch is movably installed on the floor mat, and different foot switches are distinguished based on the pressure applied, accurately differentiating different foot switches in different locations. Multiple solutions are provided to meet different performance and cost requirements.

[0023] 6. In some implementations, the display module utilizes the main unit of the medical device, reducing product costs. In other implementations, the display module is an independent module, which can be flexibly positioned as needed, offering greater flexibility in use. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0025] Figure 1 This is a flowchart illustrating a method for presenting the position information of a foot switch provided by the present invention. Figure 2 This is an example of a schematic image to be displayed; Figure 3 This is an example of a schematic image without corrected perspective; Figure 4 This is a display effect example from the display module; Figure 5 This is a schematic diagram example that includes a foot switch function and status indicators; Figure 6 A schematic diagram of a position sensing module in the form of a floor mat. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0027] The following is combined with Figures 1-6 This invention describes a method for presenting the position information of a foot switch and a medical device.

[0028] Figure 1 This is a flowchart illustrating a method for presenting the position information of a foot switch provided by the present invention, as shown below. Figure 1 As shown, the method includes: S1. Obtain the relative positional relationship between the operator's feet and the foot switch through the position sensing module; S2. The relative position of the foot and the foot switch is displayed through the display module, so that the operator can obtain the relative position of the foot and the foot switch by observing the display module.

[0029] Specifically, the use of medical equipment is crucial to patient safety. During some surgeries, the operator (i.e., the person using the medical equipment, such as a doctor) can manually operate surgical instruments / medical devices and control the medical equipment to perform related operations via foot switches, such as controlling the working status of energy components or the movement of robotic arms. Since foot switches are usually placed in easily accessible locations for doctors, such as under the bed or the bottom of the medical equipment, doctors typically need to stop their current operation, look down to check the position of their foot relative to the foot switch, and press it accurately. This causes inconvenience, affects surgical efficiency, and may even lead to misoperation. This embodiment uses a position sensing module to obtain the relative positional relationship between the operator's foot and the foot switch. Specifically, the position sensing module can collect signals in the form of force, electromagnetic, ultrasonic, or optical signals to detect the relative positional relationship between the operator's foot and the foot switch. This relative positional relationship is then displayed through a display module. The operator does not need to stop their current operation or significantly shift their gaze; they can directly observe the display module to understand the relative positional relationship and accurately move their foot to the required position.

[0030] The aforementioned display modules include, for example, screens on operating carts, external viewing mirror screens, projectors, wearable devices (such as AR glasses and VR glasses), and eyepieces of surgical microscope systems. For scenarios where the image is displayed on the surgical microscope eyepiece, a specific implementation could be as follows: a projection component projects an image containing the aforementioned relative positional relationships. The projected light is reflected by the reflective surface of a semi-transparent mirror, and the light from the surgical area passes through the semi-transparent mirror and merges with the reflected light. The operator can then see the surgical area and the relative positional relationship between the virtual projection of their feet and the foot switch in the eyepiece.

[0031] It should also be noted that the method in this embodiment runs in the processing module, which can be a hardware device based on a general computer architecture. Its form can be the host of the medical device, that is, sharing the host with the medical device that performs the medical operation. Of course, the processing module can also exist independently.

[0032] This embodiment senses and intuitively displays the relative position of the foot and the foot switch, allowing the operator to understand the relative position of the foot and the foot switch by directly observing the display module without interrupting the operation or shifting their gaze significantly, thus improving operational convenience and safety.

[0033] Furthermore, in some embodiments, the aforementioned foot switch may simultaneously include foot switches for multiple types of medical devices (e.g., foot switches for surgical microscope systems and foot switches for laser treatment devices). The processing module obtains the relative positional relationship between the operator's foot and the foot switches of each medical device through the position sensing module, and after processing, displays the relative positional relationship between the operator's foot and the foot switches of each medical device through a summary display module.

[0034] In some other embodiments, the foot switch may include foot switches for multiple types of medical devices (e.g., foot switches for surgical microscope systems and foot switches for laser therapy devices). The processing module obtains the relative positional relationship between the operator's foot and the foot switches of each medical device through the position sensing module, and after processing, displays the relative positional relationship between the operator's foot and the foot switches of each medical device through the display modules of each medical device.

[0035] Based on the previous embodiment, in some embodiments, S2 includes: S21. Generate a schematic diagram to be displayed based on the relative positional relationship between the foot and the foot switch; S22. Display a schematic diagram on the display module.

[0036] Specifically, step S1 obtains the relative positional relationship between the foot and the foot switch. For example, this relative positional relationship can be obtained from... Figure 2 The image is shown. Figure 2 The positions of the "foot model" and "foot switch model" can be adjusted. By adjusting the position of the model, the relative positional relationship between the foot and the foot switch can be shown, and then the adjusted schematic diagram can be displayed in the display module.

[0037] In a more detailed example, one or more tracking markers are placed at specific locations on the foot switch (e.g., the four corners), and one or more tracking markers are placed at specific locations on the operator's shoe covers (e.g., the middle or toe positions). These tracking markers can be tracked by the position sensing module. A connection has already been established between the sensing module's coordinate system and the schematic diagram's two-dimensional coordinate system. Then, in step S2, the position and orientation of the foot switch model in the schematic diagram are adjusted accordingly, using the tracking markers on the foot switch as anchor points, and the position and orientation of the foot model in the schematic diagram are adjusted accordingly, using the tracking markers on the shoe covers as anchor points, thus illustrating the relative positional relationship between the foot and the foot switch.

[0038] Based on the foregoing embodiments, in some embodiments, S22 includes: adjusting the schematic diagram by rotating it so that the schematic diagram presented in the display module is adapted to the operator's viewing angle.

[0039] Specifically, when the position sensing module is correctly positioned, the schematic image displayed in the display module perfectly matches the operator's standing perspective. (Refer to...) Figure 3 When the position of the position sensing module deviates from its intended orientation, the schematic diagram displayed on the module may be tilted or even upside down, affecting the viewing experience. To address this, the schematic diagram can be rotated to fit the operator's perspective. The rotation can be flexibly set based on the number of foot switches, their placement, and the operator's foot posture. For example, if the operator uses only one foot, the rotation should be adjusted so that the toes point upwards; if the operator uses only two feet, the rotation should be adjusted so that the central axis of the left and right feet is vertical and the toes are roughly pointing upwards; if the system contains only a single foot switch, the rotation should be adjusted so that the opening of the foot switch faces downwards; or even, the rotation should be adjusted so that the overall central axis of multiple foot switches is vertical and the openings of the foot switches are roughly facing downwards, thus avoiding tilted, sideways, or upside-down display of the schematic diagram.

[0040] Based on the previous embodiment, in some embodiments, in S22, the schematic diagram is displayed in full screen, partially, or overlaid on the display module.

[0041] Specifically, in some examples, the display area of ​​the schematic diagram can occupy the entire display module. For instance, there are two screens in front of the operator: one screen displays the patient model, surgical navigation information, interactive information, etc., and the other screen displays the aforementioned schematic diagram in full screen. (See reference...) Figure 4 In some examples, the illustration can be displayed partially. In other examples, the illustration is overlaid on other content, that is, the illustration is superimposed on other content in a semi-transparent state, allowing the operator to see the other content as well as the relative positions shown in the image.

[0042] Based on the foregoing embodiments, in some embodiments, in S22, the schematic diagram can be shown or hidden.

[0043] Specifically, in this embodiment, the schematic image can be invoked or hidden via command. When hidden, it does not affect the operator's observation of other content within the display module. For example, the invoke / hide command can be input via keyboard keys, shortcut keys, virtual buttons on the display module, voice control, or physical buttons on the medical device. Furthermore, this embodiment can be combined with the previous embodiment. In some examples, the invoked schematic image is displayed full-screen; in others, it is partially displayed; and still others, it is overlaid with other display content.

[0044] Based on the foregoing embodiments, in some embodiments, the schematic diagrams also include function prompts for the foot switch and / or prompts for the current status of the foot switch.

[0045] Specifically, the image may include one or more foot switches, and each foot switch may include one or more foot control units, for example... Figures 2-4 The illustration shows that the medical device includes two foot switches, each with a foot control unit, which can be operated by the user with one or both feet. Figure 5 The illustration shows a medical device containing a foot switch with two foot control units, each for different control functions. The illustration may indicate some of the foot switch's functions, for example, in... Figure 5 The image shows the left foot switch for taking a photo and the right foot switch for controlling the bone grinding drill's on / off function. The illustration also shows the status of some foot switches, for example, in... Figure 5 The current status of the foot switch on the right is indicated as: Bone Grinding Drill Off. The prompts can be presented in various ways, such as text, symbols, color-coded prompts, voice prompts when the foot switch is operated, or text, character, and voice prompts only when the operator moves the mouse to the foot switch in the image or touches the foot switch on the screen. This avoids affecting the viewing experience and improves the cleanliness of the screen.

[0046] In this embodiment, the function and / or status of the foot switch are indicated, so that the operator can intuitively understand the function and status of the foot switch and improve the ease of use.

[0047] The following describes a medical device provided by the present invention. The medical device described below can be referred to in correspondence with the foot switch position information presentation method described above.

[0048] The present invention provides a medical device comprising: a processing module, a position sensing module, a foot switch, and a display module; The position sensing module can collect the relative positional relationship between the foot and the foot switch and transmit it to the processing module; The processing module processes the relative positional relationship between the foot and the foot switch according to any of the aforementioned foot switch position information presentation methods, and displays it through the display module.

[0049] Specifically, medical devices include exoscopic systems, surgical microscope systems, semiconductor laser therapy systems, robotic drill-based automated bone-grinding systems, robotic endoscope systems, endoscopic systems, spinal robot systems, etc. These devices also include the aforementioned processing modules, position sensing modules, foot switches, and display modules, capable of displaying the relative position information of the operator's feet and the foot switch, improving the ease of use of the medical device. Specifically, the processing module can be a hardware device based on a general-purpose computer architecture, sharing the main unit of the medical device; alternatively, the processing module can exist independently.

[0050] The position sensing module can collect signals in the form of force, electromagnetic, ultrasonic, optical, etc., and detect the relative position of the operator's feet and the foot switch based on one or more of these signals.

[0051] Medical devices may include one or more foot switches, each foot switch may include one or more foot switches, and the foot switches may provide control signals, such as controlling the movement or stopping of a robotic arm through a foot switch, controlling the execution of a photograph through a foot switch, or controlling the output of laser energy through a foot switch.

[0052] Display modules can be independently configured or shared with other medical devices. Examples of display modules include screens on operating carts, external endoscope screens, projectors, wearable devices (such as AR glasses and VR glasses), and eyepieces of surgical microscope systems.

[0053] The processing module collects the relative positional relationship between the foot and the foot switch through the position sensing module, and generates a schematic diagram based on the positional relationship, which is displayed through the display module. The operator can directly observe the display module to understand the relative positional relationship between the foot and the foot switch without interrupting the operation or shifting the observation line significantly.

[0054] The medical device provided in this embodiment can sense and intuitively display the relative position of the foot and the foot switch, allowing the operator to understand the relative position of the foot and the foot switch directly by observing the display module without interrupting their work or shifting their gaze significantly, thus improving operational convenience and safety. This embodiment particularly enhances the usability of medical devices such as surgical microscope systems and endoscope systems where the observation posture and field of view are relatively limited.

[0055] Furthermore, in some embodiments, the foot switch may simultaneously include foot switches for multiple types of medical devices, such as foot switches for surgical microscope systems, foot switches for laser treatment devices, or foot switches for endoscope systems and foot switches for electrocoagulation hemostasis devices.

[0056] Furthermore, in one example, the processing module displays the relative positional relationship between the foot and the foot pedals of each medical device through a summary display module. In another example, the processing module performs data processing and displays the relative positional relationship between the foot and its respective foot pedal through the display modules of each medical device.

[0057] Based on the foregoing embodiments, in some embodiments, the position sensing module includes a floor mat, on which a force sensor array is provided to detect the position of a foot step, and a foot switch is set in a preset area of ​​the floor mat.

[0058] Specifically, refer to Figure 6 The position sensing module includes a floor mat with an array of force sensors. The force sensors can be distributed regularly or irregularly; for example, force sensors can be densely arranged in areas where feet are more likely to step on them, and sparsely arranged at the edges of the floor mat. When detecting the foot position, the "stepping area" can be determined as the foot position based on the positions of the multiple force sensors on the floor mat, thereby determining the relative positional relationship between the foot and the foot switch.

[0059] Based on the previous embodiment, in some embodiments, the foot switch is movably disposed on the floor mat, and the floor mat is also capable of detecting the position of the foot switch.

[0060] Specifically, the floor mat can also detect the position of foot switches. The processing module can determine whether a certain area is a "foot" or a "foot switch" based on the difference in the shape of the force-bearing area. For scenarios with multiple foot switches, different weights can be set for different foot switches (e.g., by adding counterweights), and the floor mat can distinguish between different foot switches by different amounts of force.

[0061] In other embodiments, the foot switch is positioned within a predetermined area of ​​the floor mat. That is, the position of the foot switch on the floor mat is known, eliminating the need for a force sensor to detect its position. More specifically, for example, markings indicating the placement of the foot switch can be provided on the floor mat, and the foot switch is placed in the marked area before use. Alternatively, the floor mat can have slots for holding the foot switch. Or, the foot switch can be directly integrated with the floor mat, with the two fixedly connected. Similarly, there can be multiple foot switches, each with its own predetermined area on the floor mat.

[0062] Based on the foregoing embodiments, in some embodiments, the position sensing module includes a footwear for the operator to wear, and the footwear or foot switch is equipped with a position sensor that can detect the relative position of the footwear and the foot switch.

[0063] Specifically, footwear such as shoe covers and slippers, in some examples, incorporate a position sensor to detect signals actively or passively emitted by a foot switch, determining the relative positional relationship between the footwear (foot) and the foot switch based on these signals. In other examples, a position sensor is incorporated into the foot switch to detect signals actively or passively emitted by the footwear, determining the relative positional relationship between the footwear (foot) and the foot switch based on these signals.

[0064] Based on the previous embodiment, in some embodiments, the position sensor includes an infrared sensor. For example, infrared emitting marks are set at multiple points on the shoe cover, and an infrared sensor is set on the foot switch. The infrared sensor can detect infrared light and determine the position of each infrared mark on the shoe cover, thereby determining the relative positional relationship between the shoe cover (foot) and the foot switch. The advantage of this embodiment is that the infrared sensor has high positioning accuracy.

[0065] In other embodiments, the position sensor includes an ultrasonic sensor. For example, an ultrasonic sensor is provided on the foot switch, and the ultrasonic waves emitted by it are reflected by the shoe cover and received by the ultrasonic sensor, thereby measuring the position and shape of the shoe cover. Alternatively, two or more ultrasonic sensors are provided on the slippers to receive the ultrasonic signals emitted by the foot switch, and the position of the foot switch relative to the slippers (foot) is determined by utilizing the binaural effect. The advantage of this embodiment is that the ultrasonic sensor is relatively inexpensive.

[0066] In other examples, the position sensor includes an electromagnetic sensor. For instance, multiple magnetic markers are placed on the shoe cover, generating a unique magnetic field in the surrounding space. An electromagnetic sensor is placed on the foot switch, capable of detecting the magnetic field characteristics, such as magnetic field strength, direction, and frequency, and matching them with the characteristics of the magnetic markers indicated by the dotted lines to determine the relative positional relationship between the shoe cover (foot) and the foot switch. An advantage of this embodiment is that the electromagnetic sensor's positioning is unobstructed by obstacles.

[0067] Of course, position sensors can also include some of the sensor combinations mentioned above, which can improve position sensing accuracy. Understandably, if the system supports operation with both feet, then position sensors are needed to track the positions of both feet; if the system supports operation with one foot, then only the position sensor needs to track the position of that foot, which can also reduce product costs.

[0068] Based on the foregoing embodiments, in some embodiments, the position sensing module includes an electromagnetic navigation module, a first electromagnetic marker disposed on the operator's foot, and a second electromagnetic marker disposed on the foot switch; the position sensing module determines the relative positional relationship between the foot and the foot switch by tracking the first electromagnetic marker and the second electromagnetic marker.

[0069] Specifically, the electromagnetic navigation module can track a first electromagnetic marker (such as a magnetic marker attached to a shoe or a shoe cover) placed on the operator's foot, and a second electromagnetic marker on the foot switch, based on the principle of electromagnetic navigation, and then calculate the relative positional relationship between the shoe (foot) and the foot switch. Furthermore, the electromagnetic navigation module can also be reused in surgical navigation processes, expanding the product's functionality.

[0070] Based on the foregoing embodiments, in some embodiments, the position sensing module includes a positioning module and an exoskeleton device. The positioning module is mounted on a foot switch and can detect the position of any joint segment of the exoskeleton device. The exoskeleton device can detect the included angle of each joint segment.

[0071] Specifically, one or more joint segments of the exoskeleton device are equipped with positioning markers (such as optical markers, electromagnetic markers, and ultrasonic markers). The positioning module can track the positioning markers to determine the position of the joint segment. Since the included angles of each joint segment of the exoskeleton device are detectable, the positioning module can determine the position of each joint segment, thereby determining the position of the foot wearing the exoskeleton device.

[0072] The following describes a surgical microscope system provided by the present invention. The surgical microscope system described below can be referred to in correspondence with the foot switch position information presentation method and medical device described above.

[0073] The present invention provides a surgical microscope system, comprising: a position adjustment module, an image acquisition module, a position sensing module, a foot switch, a processing module, and a display module; The position adjustment module can adjust the position and viewing angle of the surgical image acquisition module. In one example, the position adjustment module includes a movable base, a column, and a suspension arm. The column is mounted on the movable base, and the upper end of the column is connected to the suspension arm. The other end of the suspension arm is connected to the image acquisition module. Overall, the position adjustment module can be adjusted in a wide range of positions via the base, and the position and viewing angle of the image acquisition module can be further adjusted via the suspension arm. In another example, the position adjustment module includes a movable base, a trolley, and a robotic arm. The trolley is mounted on a movable chassis, and the base of the robotic arm is mounted on the trolley. The other end of the robotic arm is connected to the image acquisition module. Overall, the position adjustment module can be adjusted in a wide range of positions via the movable base, and the position and viewing angle of the image acquisition module can be further adjusted via the robotic arm. The aforementioned processing module can also be installed in the trolley.

[0074] The image acquisition module may include an illumination unit, or an illumination unit may be set in another location on the surgical microscope system, which can supplement the light in the surgical area for clear imaging.

[0075] The surgical microscope system may include one or more foot switches, and each foot switch may include one or more foot control units. Each foot control unit may perform different control functions, such as controlling the movement and stopping of the position adjustment module, controlling the execution of a single photograph, adjusting the magnification of the image acquisition module, adjusting the working distance of the image acquisition module, etc.

[0076] The position sensing module can acquire the relative positional relationship between the operator's (i.e., the person operating the surgical microscope system, such as a doctor) feet and the foot switch, and transmit this information to the processing module. Specifically, the position sensing module can collect signals in the form of force, electromagnetic, ultrasonic, optical, etc., and detect the relative positional relationship between the operator's feet and the foot switch based on one or more of these signals.

[0077] The processing module can be a hardware device based on a general-purpose computer architecture, sharing the main unit of the medical device. Of course, the processing module can also exist independently. The processing module collects the relative positional relationship between the foot and the foot switch through the position sensing module, generates a schematic diagram based on this positional relationship, and displays it through the aforementioned display module. The operator can directly observe the display module to understand the relative positional relationship between the foot and the foot switch without interrupting the operation or shifting their gaze significantly.

[0078] In some examples, the surgical microscope system includes a separate display module, such as a screen mounted on a trolley, to which the processing module sends an image illustrating the relative position of the foot and the foot switch for display. In another example, the display module is a projection component on the image acquisition module. This component overlays an image illustrating the relative position of the foot and the foot switch onto the eyepiece optical path of the image acquisition module. Specifically, the projection component projects an image containing the aforementioned relative position, the projected light is reflected by a semi-transparent mirror, and the light from the surgical area passes through the semi-transparent mirror and merges with the reflected light. The operator's glasses receive this merged light through the eyepiece, allowing them to observe the superimposed image of the surgical area.

[0079] The surgical microscope system provided in this embodiment can sense and intuitively display the relative position of the foot and the foot switch, so that the operator can understand the relative position of the foot and the foot switch directly through the display module without interrupting the operation or shifting the observation line over a large area, thus improving the convenience and safety of operation.

[0080] Further embodiments of the surgical microscope system provided by this invention can be found in the medical device and foot switch position information presentation method described above, and will not be repeated here.

[0081] The following describes an endoscope system provided by the present invention. The endoscope system described below can be referred to in correspondence with the foot switch position information presentation method and medical device described above.

[0082] The present invention provides an endoscope system, comprising: an endoscope lens, a light source module, a processing module, a display module, a foot switch, and a position sensing module; Specifically, endoscopic systems are used for imaging and observation of confined spaces, such as the abdomen, esophagus, deep brain, and lumbar spine. Endoscopic lenses can be rigid or flexible. Rigid endoscopes have a rigid tube containing illumination channels, image acquisition channels, and may also include flushing channels and working channels (e.g., for inserting cutting or electrocautery tools). Flexible endoscopes have at least partially flexible tubes to facilitate passage through confined spaces within the body, and a display module shows the images acquired by the endoscopic lens.

[0083] An endoscope system may include one or more foot switches, and each foot switch may include one or more foot control units. Each foot control unit may perform different control functions, such as adjusting the lighting brightness, controlling the execution of a photograph, adjusting the magnification of the image acquisition module, or controlling the opening / closing of the flushing channel.

[0084] The position sensing module can acquire the relative positional relationship between the operator's (i.e., the person operating the endoscope system, such as a doctor) feet and the foot switch, and transmit this information to the processing module. Specifically, the position sensing module can collect signals in the form of force, electromagnetic, ultrasound, and optical signals, and detect the relative positional relationship between the operator's feet and the foot switch based on one or more of these signals.

[0085] The processing module can be a hardware device based on a general-purpose computer architecture, sharing the same host as the endoscope system. Alternatively, the processing module can be an additional component. The processing module uses a position sensing module to acquire the relative positional relationship between the foot and the foot switch. Based on this relationship, it generates a schematic diagram, which is displayed through the aforementioned display module. The operator can directly observe the display module to understand the relative positional relationship between the foot and the foot switch without interrupting their operation or significantly shifting their gaze.

[0086] In some examples, the endoscope system includes a display module that displays both the endoscopic image and the positional relationship between the foot and the foot switch; these two displays can be superimposed. Preferably, the endoscopic image can be displayed full-screen, while a diagram showing the positional relationship between the foot and the foot switch is displayed in a localized area of ​​the display module. Furthermore, the diagram is revocable; the user can invoke or hide it via command, and hiding it does not interfere with the operator's observation of other content within the display module. For example, the invoke / hide command can be input via keyboard keys, shortcut keys, virtual buttons on the display module, voice control, or physical buttons on the medical device.

[0087] In other examples, the endoscope system includes two or more display modules that can display endoscope images and the positional relationship between the foot and the foot switch on different screens.

[0088] The endoscope system provided in this embodiment can sense and intuitively display the relative position of the foot and the foot switch, so that the operator can understand the relative position of the foot and the foot switch directly through the display module without interrupting the operation or shifting the observation line. This improves the convenience and safety of operation.

[0089] Further embodiments of the endoscope system provided by this invention can be found in the medical devices, surgical microscope systems, and foot switch position information presentation methods described above, and will not be repeated here.

[0090] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for presenting the position information of a foot switch, characterized in that, include: The relative position of the operator's feet to the foot switch is obtained through the position sensing module; The relative position of the foot and the foot switch is displayed through the display module, so that the operator can obtain the relative position of the foot and the foot switch by observing the display module.

2. The method for presenting the position information of a foot switch according to claim 1, characterized in that, The step of displaying the relative position of the foot and the foot switch via a display module includes: Based on the relative positional relationship between the foot and the foot switch, a schematic diagram to be displayed is generated; The schematic diagram is displayed on the display module.

3. The method for presenting the position information of a foot switch according to claim 2, characterized in that, The schematic diagram can be displayed in full screen, partially, or overlaid on the display module.

4. The method for presenting the position information of a foot switch according to claim 2, characterized in that, The illustration can be shown or hidden.

5. The method for presenting the position information of a foot switch according to claim 2, characterized in that, The illustration also includes function prompts for the foot switch and / or prompts for the current status of the foot switch.

6. A medical device, characterized in that, include: Processing module, position sensing module, foot switch, display module; The position sensing module can collect the relative positional relationship between the foot and the foot switch and transmit it to the processing module; The processing module processes the relative positional relationship between the foot and the foot switch according to the foot switch position information presentation method according to any one of claims 1-5, and displays it through the display module.

7. The medical device according to claim 6, characterized in that, The position sensing module includes a floor mat, on which a force sensor array is installed to detect the position of a foot stepping on the mat, and a foot switch is located in a preset area of ​​the floor mat.

8. The medical device according to claim 7, characterized in that, The foot switch includes at least two; Each foot switch has a fixed position on the floor mat, and the processing module distinguishes different foot switches based on their positions; or, different foot switches have different weights, and the processing module distinguishes between different foot switches based on the pressure received.

9. The medical device according to claim 6, characterized in that, The position sensing module includes a foot accessory for the operator to wear. The foot accessory or the foot switch is equipped with a position sensor that can detect the relative position of the foot accessory and the foot switch.

10. The medical device according to claim 9, characterized in that, The position sensor is selected from any one or a combination of the following: infrared sensor, ultrasonic sensor, electromagnetic sensor.

11. The medical device according to claim 6, characterized in that, The position sensing module includes an electromagnetic navigation module, a first electromagnetic marker set on the operator's foot, and a second electromagnetic marker set on the foot switch; the position sensing module determines the relative positional relationship between the foot and the foot switch by tracking the first electromagnetic marker and the second electromagnetic marker.

12. A surgical microscope system, characterized in that, include: Position adjustment module, lighting module, image acquisition module, display module, position sensing module, foot switch, and processing module; The position sensing module can collect the relative positional relationship between the foot and the foot switch and transmit it to the processing module; The processing module processes the relative positional relationship between the foot and the foot switch, and displays it through the display module.

13. An endoscope system, characterized in that, include: Endoscope lens, light source module, processing module, display module, foot switch, position sensing module; The position sensing module can collect the relative positional relationship between the foot and the foot switch and transmit it to the processing module; The processing module processes the relative positional relationship between the foot and the foot switch using the foot switch position information presentation method, and displays it through the display module.

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