Remote medical teaching system
By setting up teaching and demonstration terminals with identical mechanical structures in a telemedicine system and using processor interaction to simulate damping forces, the problem of intuitiveness in telemedicine teaching was solved, and teaching efficiency and safety were improved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- HANGZHOU JOINTECH LTD
- Filing Date
- 2025-12-31
- Publication Date
- 2026-04-17
AI Technical Summary
Existing telemedicine systems rely on on-site teaching, which increases the time cost of learning. Furthermore, remote guidance is not as intuitive as on-site guidance, resulting in low teaching efficiency.
By setting up identical mechanical structures on both the teaching and demonstration ends and utilizing processor interaction, the system enables control and feedback of the actuating structures on the demonstration end, simulating damping force sensation and enhancing the instructor's perception and adjustment capabilities during remote surgery.
It improves the teaching efficiency and safety of remote surgery, enabling instructors to more intuitively perceive changes in the status of the demonstration device, adjust operations in a timely manner, and enhance the richness and efficiency of remote teaching content.
Smart Images
Figure CN121884645A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of medical device technology, and in particular to a telemedicine teaching system. Background Technology
[0002] With advancements in technology, telemedicine systems are increasingly being used in medical diagnosis and treatment. Simultaneously, the growing number of telemedicine systems in practical application necessitates a greater demand for medical professionals capable of effectively operating these systems.
[0003] However, current telemedicine system teaching largely relies on in-person instruction, which significantly increases the time cost of learning to use such systems. Furthermore, remote teaching often lacks the intuitiveness and ease of understanding that in-person instruction provides. Therefore, developing a telemedicine teaching system has become a pressing issue. Summary of the Invention
[0004] To address the aforementioned problems, according to a first aspect of the embodiments of this application, a remote medical teaching system is provided, comprising: at least one teaching terminal device and at least one demonstration terminal device;
[0005] The teaching terminal device includes a teaching terminal actuation structure and a teaching terminal processor that are electrically connected to each other; the demonstration terminal device includes a demonstration terminal actuation structure and a demonstration terminal processor that are interconnected; the teaching terminal actuation structure and the demonstration terminal actuation structure have the same mechanical structure;
[0006] The teaching terminal actuation structure is used to change its pose state after interacting with the teacher; the teaching terminal processor is used to identify the pose change of the teaching terminal actuation structure and record the pose change data, and send out the pose change data; the demonstration terminal processor is used to receive the pose change data sent by the teaching terminal processor, and make the demonstration terminal actuation structure make corresponding pose changes according to the pose change data.
[0007] The teaching terminal processor is also used to generate a damping change signal based on the surgical state of the virtual model and send out the damping change signal; the demonstration terminal processor is used to receive the damping change signal and control the demonstration terminal actuation structure to generate corresponding damping based on the damping change signal.
[0008] According to the above embodiments, by simultaneously setting up teaching-end and demonstration-end actuation structures with identical mechanical structures, and through interaction between the teaching-end processor and the demonstration-end processor, control commands are issued to the demonstration-end actuation structure. Based on the operational feedback of the demonstration-end actuation structure, corresponding resistance is reflected on the teaching-end actuation structure. This allows the instructor to quickly perceive damping force and make timely adjustments during remote surgery through interaction with the teaching-end actuation structure. Simultaneously, the response of the teaching-end actuation structure's positional state to the demonstration-end actuation structure's positional state helps the instructor to more intuitively perceive the state of the demonstration-end actuation structure. Furthermore, through the comprehensive response of the teaching-end actuation structure to the demonstration-end actuation structure's positional and force states, the instructor can receive timely feedback from the surgical site, effectively improving the efficiency and safety of remote surgery through the telemedicine teaching system.
[0009] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description
[0010] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.
[0011] Figure 1 This is a schematic diagram of a remote medical teaching system according to an embodiment of this application. Detailed Implementation
[0012] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.
[0013] To address the feedback interaction problem between the damping force of a remote surgical robot and remote operation, this application provides a remote medical teaching system. Figure 1 This is a schematic diagram of the telemedicine teaching system 10. (For example...) Figure 1 As shown, the remote medical teaching system 10 includes at least one teaching terminal device 101 and at least one demonstration terminal device 201.
[0014] The at least one teaching terminal device 101 may include one, two, three, or four teaching terminal devices 101, but is not limited thereto. Similarly, the at least one demonstration terminal device 201 may include one, two, three, or four demonstration terminal devices 201, but is not limited thereto.
[0015] The teaching terminal device 101 includes a teaching terminal actuation structure 11 and a teaching terminal processor 12 that are electrically connected to each other. The demonstration terminal device 201 includes a demonstration terminal actuation structure 21 and a demonstration terminal processor 22 that are interconnected. The teaching terminal actuation structure 11 and the demonstration terminal actuation structure 21 include the same mechanical structure.
[0016] Specifically, the demonstration actuation structure 21 and the on-site processor 22 can be set up at the student's learning site, and perform surgical operations by receiving remote control commands. The teaching actuation structure 11 and the teaching processor 12 can be set up in other areas outside the student's learning site. Through the interaction between the teaching actuation structure 11 and the remote operator, the operator can learn which surgical operations need to be demonstrated and issue control commands to the demonstration actuation structure 21 and the demonstration processor 22.
[0017] The teaching-end actuation structure 11 is used to change its pose state after interacting with the instructor. The teaching-end processor 12 is used to identify the pose change of the teaching-end actuation structure 11 and record the pose change data, while also sending out the pose change data. The demonstration-end processor 22 is used to receive the pose change data sent by the teaching-end processor 12 and to make the demonstration-end actuation structure 21 make corresponding pose changes based on the pose change data.
[0018] Specifically, the interaction between the teaching terminal actuation structure 11 and the teacher can be that the teacher controls the remote actuation structure 11 through software, or the teacher directly contacts the teaching terminal actuation structure 11 to change its state, or the teacher controls the remote actuation structure 11 through software and makes partial adjustments to the teaching terminal actuation structure 11 by directly contacting it.
[0019] The teaching terminal processor 12 is further configured to generate a damping change signal based on the surgical state of the teaching model, and to send out the damping change signal. The demonstration terminal processor 22 is configured to receive the damping change signal and control the demonstration terminal actuation structure 21 to generate corresponding damping based on the damping change signal.
[0020] Specifically, the power component of the teaching end actuation structure 11 may include a motor. The teaching end processor 12 controls the teaching end actuation structure 11 to generate corresponding damping by controlling the power output of the motor to generate a damping sensation, but it is not limited to this. The teaching end actuation structure 11 may also generate damping force in other ways.
[0021] Through the above embodiments, by simultaneously setting up a teaching end actuation structure 11 and a demonstration end actuation structure 21 with identical mechanical structures, and through the interaction between the teaching end processor 12 and the demonstration end processor 22, control commands are issued to the demonstration end actuation structure 21, and corresponding resistances are reflected on the teaching end actuation structure 11 and the demonstration end actuation structure 21. Thus, during remote teaching, the instructor can demonstrate the corresponding resistances to the demonstration end actuation structure 21 while interacting with the teaching end actuation structure 11. Furthermore, through the comprehensive demonstration of the demonstration end actuation structure 21 from its positional state to its force state by the teaching end actuation structure 11, learners can receive timely feedback on various resistances during simulated use. This effectively improves the richness of remote teaching content and enhances teaching efficiency through the remote medical teaching system 10.
[0022] In some embodiments, the teaching end actuation structure 11 and the demonstration end actuation structure 21 may include a surgical robotic arm, or may include a multi-axis surgical robot, but are not limited thereto. The specific structures included in the teaching end actuation structure 11 and the demonstration end actuation structure 21 can be flexibly selected according to the actual surgical parameter requirements and the overall cost control of the system.
[0023] In some embodiments, the teaching terminal processor 12 is further configured to generate safety boundary information based on the relationship between the pose of the teaching terminal actuation structure 11 and the range defined by the teaching planning scheme. The teaching terminal processor 12 is further configured to generate first safety damping information based on the safety boundary information and the actuation command, and control the teaching terminal actuation structure 11 to generate corresponding damping based on the first safety damping information.
[0024] The teaching terminal processor 12 is also used to send the safety boundary information and the actuation command to control the demonstration terminal actuation structure 21. The demonstration terminal processor 22 is also used to generate second safety damping information based on the acquired safety boundary information and actuation command, and control the demonstration terminal actuation structure to generate corresponding damping based on the second safety damping information.
[0025] Specifically, the first safety damping information is generated based on the safe posture relationship information and the actuation command. This damping can vary in magnitude depending on the different operating speeds of the teaching end actuation structure 11 and its distance from the virtual boundary. Specifically, when the distance between the teaching end actuation structure 11 and the virtual boundary is less than a certain value, the damping can be gradually increased as the distance decreases. Simultaneously, based on the current operating speed of the remote actuation structure 11, the faster the speed, the greater the increase in damping force on top of the original damping force. Similarly, the setting of the second safety damping information can refer to the setting of the first safety damping.
[0026] According to the above embodiments, when the instructor remotely controls the demonstration terminal actuation structure 21, the virtual boundary can be defined to prevent the demonstration terminal actuation structure 21 from affecting areas outside the scope defined by the teaching plan. This effectively simulates the damping sensation when the instructor interacts with the teaching terminal actuation structure 11 and approaches the scope defined by the teaching plan. It also makes the demonstration terminal actuation structure 12 exhibit damping sensation when interacting with the learner. In this way, the richness of teaching content and the efficiency of teaching can be effectively improved through the remote medical teaching system 10.
[0027] In some embodiments, the remote medical teaching system 10 further includes a navigation system for storing teaching plans, rendering and visualizing the boundaries and data defined by the teaching model according to the teaching plans. The teaching terminal processor 12 obtains the teaching plans from the navigation system and determines specific safety boundaries based on the scope of the teaching plans.
[0028] The teaching terminal processor 12 is also used to generate safety boundary information based on the relative positional relationship between the pose of the teaching terminal actuation structure 11 and the safety boundary.
[0029] According to the above embodiments, when the remotely controlled demonstration terminal actuation structure 21 is operated by the teacher, the virtual boundary is defined to prevent the teaching terminal actuation structure 11 from affecting areas outside the scope defined by the teaching plan. Thus, the damping sensation when the teacher interacts with the teaching terminal actuation structure 11 and approaches the scope defined by the teaching plan can be effectively simulated. The demonstration terminal actuation structure 12 can also exhibit damping sensation when interacting with the learner. In this way, the richness of teaching content and the efficiency of teaching can be effectively improved through the remote medical teaching system 10.
[0030] In some embodiments, the teaching processor 12 is further configured to continuously generate safety boundaries based on the pose of the teaching actuator 11. The teaching processor 12 is also configured to continuously generate first safety damping information based on the safety boundary information and the actuation instructions.
[0031] The teaching processor 12 is also used to continuously send out safety boundary information and control the actuation commands of the demonstration terminal actuation structure 21. The demonstration terminal processor 22 is also used to continuously generate second safety damping information based on the acquired safety boundary information and actuation commands.
[0032] This setup allows for continuous updates to safety damping information, thereby better simulating the damping sensation when the instructor interacts with the teaching terminal's actuation structure 11 as it approaches the defined range of the teaching plan. It also ensures that the demonstration terminal's actuation structure 12 exhibits damping sensation when interacting with the learner. Consequently, this remote medical teaching system 10 can effectively enhance the richness of teaching content and improve teaching efficiency.
[0033] In some embodiments, the telemedicine teaching system 10 further includes a navigation system, a teaching terminal display 13, and a demonstration terminal display 23. The demonstration terminal display 23 and the teaching terminal display 13 are worn by the learner and the instructor, respectively, at the same location on their bodies.
[0034] The navigation system is used to store teaching plans and render and visualize the teaching model according to the boundaries and data defined by the teaching plan, as well as the positional relationship between the corresponding demonstration end action structure 21 or teaching end action structure 11 and the boundaries defined by the teaching plan.
[0035] The navigation system can be set up for teaching equipment 101 and demonstration equipment 201 respectively, and each teaching equipment 101 and each demonstration equipment 201 is equipped with a corresponding navigation system.
[0036] Both the demonstration display 23 and the teaching display 13 include a transparent display section. This transparent display section is used to transparently showcase the surrounding environment while simultaneously displaying the content rendered and visualized by the navigation system.
[0037] The demonstration display 23 and the teaching display 13 can be equipped with built-in wireless transmission modules to enable network transmission of information data.
[0038] This setup allows learners and instructors to see the real-world scene while simultaneously viewing the boundary data and positional relationships provided by the navigation system through the demonstration display 23 and the teaching display 13. This allows for the simultaneous display of both the demonstration and teaching content via the transparent display unit, effectively enhancing the richness of the teaching content and improving teaching efficiency.
[0039] In some embodiments, the teaching display 13 and the demonstration display 23 may also be equipped with a communication module. This module is used to enable simultaneous and rapid communication between the teaching display 13 and the demonstration display 23 worn by the learner and the instructor, thereby improving communication efficiency.
[0040] In some embodiments, both the demonstration display 23 and the teaching display 13 have the same synchronous rendering program stored locally.
[0041] The synchronous rendering program set in the demonstration display 23 and the teaching display 13 is used to render the display data that has not been rendered simultaneously after the demonstration display 23 and the teaching display 13 have obtained the display data that has not been rendered.
[0042] By setting up the same synchronous rendering program, it can be ensured that the same rendering result is output after receiving display data that has not been rendered. This effectively ensures the consistency of the content displayed on the demonstration end monitor 23 and the teaching end monitor 13. Furthermore, the remote medical teaching system 10 can further improve the richness of remote teaching content and the efficiency of teaching.
[0043] In some embodiments, the navigation system includes a bone surface image generation model. The bone surface image generation model is trained using real bone surface textures as input and randomly generated bone surface images as output. During instruction, the navigation system generates bone surface textures using the bone surface image generation model.
[0044] Both the teaching terminal display 13 and the demonstration terminal display 23 are equipped with a same-viewpoint image acquisition unit. The same-viewpoint image acquisition unit is used to acquire the seen environmental image. The teaching terminal processor 12 and the demonstration terminal processor 22 identify the state of the teaching model based on the environmental image, match the identified surface of the teaching model with the bone surface texture, and display the bone surface texture on the transparent display unit at the position where the teaching model is seen to cover it.
[0045] This setup allows for the rendering overlay of displayed content to cover the less realistic teaching model surface with bone surface texture, thereby effectively enhancing the realism of the teaching model. This improves the simulation of the real environment during the teaching process, and further enhances the richness of remote teaching content and the efficiency of teaching.
[0046] In some embodiments, the viewing angle image acquisition units of the teaching terminal display 13 and the demonstration terminal display 23 are also used to acquire the action data of the teacher and the learner, identify special action data in the action data, trigger a preset specific instruction based on the special action data, and switch the display content based on the preset specific instruction.
[0047] The teaching terminal display 13 and the demonstration terminal display 23 are also used to send motion data to the teaching terminal processor 12 and the demonstration terminal processor 22, respectively. The teaching terminal processor 12 and the demonstration terminal processor 22 are used to identify special motion data in the motion data, trigger corresponding preset specific instructions based on the special motion data, and control the teaching terminal actuation structure 11 and the demonstration terminal actuation structure 21 to produce corresponding actions according to the instructions.
[0048] This setup allows for the rapid execution of specific commands by recognizing surgical movements, thereby improving operational efficiency and enhancing the realism of the teaching model and its simulation of the real environment. Consequently, it can further enrich the content of remote teaching and improve teaching efficiency.
[0049] In some embodiments, the navigation system includes a navigation display and a pose acquisition device. The pose acquisition device is used to acquire the real-time pose of the corresponding teaching end actuation structure 11 or demonstration end actuation structure 21, and, based on the real-time pose and the various boundaries and data defined in the teaching planning scheme, acquire the positional relationship between the teaching end actuation structure 11 or the demonstration end actuation structure 21 and the various boundaries defined in the teaching planning scheme.
[0050] This configuration enables the navigation system to specifically obtain the positional relationship between the teaching end action structure 11 or the demonstration end action structure 21 and the various boundaries defined in the teaching planning scheme.
[0051] In some embodiments, both the teaching display 13 and the demonstration display 23 include head-mounted displays.
[0052] This setup places the teaching display 13 and the demonstration display 23 within the field of vision of the teacher and learner, respectively. This effectively enhances the immersion of the teacher and learner in the simulated teaching environment, thereby improving the realism of the teaching model and the immersion of the teacher and learner in the simulated surgical environment. Consequently, it further enhances the richness of the remote teaching content and the efficiency of teaching.
[0053] In some embodiments, the head-mounted display covers the entire field of vision of both the learner and the instructor.
[0054] This setup can further enhance the immersion of educators and learners in the simulated teaching environment, thereby improving the realism of the teaching model and the immersion of educators and learners in the simulated surgical environment. Consequently, it can further enhance the richness of remote teaching content and the efficiency of teaching.
[0055] In some embodiments, the teaching terminal actuation structure 11 is provided with a first emergency stop button. The first emergency stop button is used to urgently stop the teaching terminal actuation structure 11 and the demonstration terminal actuation structure 12.
[0056] The demonstration terminal actuation structure 21 is equipped with a second emergency stop button. The second emergency stop button is used to stop the demonstration terminal actuation structure 21 in an emergency.
[0057] Specifically, the first emergency stop button is pressed by the instructor when an emergency occurs, and the second emergency stop button is pressed by the learner when an emergency occurs. This allows the instructor to effectively ensure the learner's safe learning during the learning process and the learner's ability to stop the emergency when they perceive it, thereby effectively improving safety during the learning process.
[0058] In some embodiments, the telemedicine teaching system 10 is primarily used for teaching simulations of orthopedic surgery, but is not limited thereto.
[0059] The above embodiments of this application can complement each other without causing conflict.
[0060] It should be noted that the dimensions of layers and regions may be exaggerated in the accompanying drawings for clarity. Furthermore, it is understood that when an element or layer is referred to as being "on" another element or layer, it can be directly on the other element, or there may be intermediate layers. Additionally, it is understood that when an element or layer is referred to as being "below" another element or layer, it can be directly below the other element, or there may be more than one intermediate layer or element. Furthermore, it is also understood that when a layer or element is referred to as being "between" two layers or two elements, it can be the only layer between the two layers or two elements, or there may be more than one intermediate layer or element. Similar reference numerals throughout indicate similar elements.
[0061] The term “multiple” means two or more, unless otherwise expressly defined.
[0062] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.
[0063] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.
Claims
1. A telemedical teaching system, characterized in that include: At least one teaching terminal device and at least one demonstration terminal device; The teaching terminal device includes a teaching terminal actuation structure and a teaching terminal processor that are electrically connected to each other; the demonstration terminal device includes a demonstration terminal actuation structure and a demonstration terminal processor that are interconnected; the teaching terminal actuation structure and the demonstration terminal actuation structure have the same mechanical structure; The teaching terminal actuation structure is used to change the posture state after interacting with the teacher; The teaching terminal processor is used to identify the pose changes of the teaching terminal actuation structure and record the pose change data, and at the same time send out the pose change data; the demonstration terminal processor is used to receive the pose change data sent by the teaching terminal processor, and make the demonstration terminal actuation structure make corresponding pose changes according to the pose change data. The teaching terminal processor is also used to generate a damping change signal based on the surgical state of the teaching model and send out the damping change signal; the demonstration terminal processor is used to receive the damping change signal and control the demonstration terminal actuation structure to generate corresponding damping based on the damping change signal.
2. The remote medical teaching system according to claim 1, characterized in that, The teaching terminal processor is further configured to generate safety boundary information based on the relationship between the pose of the teaching terminal actuation structure and the range defined by the teaching planning scheme; the teaching terminal processor is further configured to generate first safety damping information based on the safety boundary information and the actuation command, and control the teaching terminal actuation structure to generate corresponding damping based on the first safety damping information. The teaching terminal processor is also used to send out the safety boundary information and the actuation command to control the actuation structure of the demonstration terminal; the demonstration terminal processor is also used to generate second safety damping information based on the acquired safety boundary information and the actuation command, and control the actuation structure of the demonstration terminal to generate corresponding damping based on the second safety damping information.
3. The remote medical teaching system according to claim 2, characterized in that, Also includes: Navigation system; The navigation system is used to store teaching plans, render and visualize the boundaries and data of the teaching model according to the teaching plans; The teaching terminal processor obtains the teaching plan from the navigation system and determines the specific safety boundary based on the scope of the teaching plan; The teaching terminal processor is also used to generate the safety boundary information based on the relative positional relationship between the pose of the teaching terminal actuation structure and the safety boundary.
4. The remote medical teaching system according to claim 1, characterized in that, Also includes: A navigation system, a teaching terminal display, and a demonstration terminal display; wherein the demonstration terminal display and the teaching terminal display are to be worn by the learner and the teacher, respectively, at the same position on their bodies; The navigation system is used to store teaching plans, and to render and visualize the boundaries and data of the teaching model according to the teaching plan, as well as the positional relationship between the corresponding demonstration end action structure or teaching end action structure and the boundaries defined by the teaching plan. Both the demonstration display and the teaching display include a transparent display section; the transparent display section is used to transparently display the surrounding environment while displaying the content rendered and visualized by the navigation system.
5. The remote medical teaching system according to claim 4, characterized in that, Both the demonstration display and the teaching display have the same synchronous rendering program stored locally. The synchronous rendering program installed in the demonstration terminal display and the teaching terminal display is used to simultaneously render the display data that has not been rendered after the demonstration terminal display and the teaching terminal display have received the display data that has not been rendered.
6. The remote medical teaching system according to claim 4, characterized in that, The navigation system includes a bone surface image generation model; the bone surface image generation model is trained by taking real bone surface texture as input and randomly generated bone surface images as output. The navigation system generates bone surface textures using the bone surface image generation model during teaching. Both the teaching terminal display and the demonstration terminal display are equipped with a same-view image acquisition unit; the same-view image acquisition unit is used to acquire the seen environmental image; the teaching terminal processor and the demonstration terminal processor identify the state of the teaching model based on the environmental image, match the identified surface of the teaching model with the bone surface texture, and display the bone surface texture on the transparent display unit at the position where the teaching model is seen to cover it.
7. The remote medical teaching system according to claim 5, characterized in that, The perspective image acquisition units of the teaching terminal display and the demonstration terminal display are also used to acquire the action data of the teacher and the learner, identify special action data in the action data, trigger a preset specific instruction based on the special action data, and switch the display content based on the preset specific instruction. The teaching terminal display and the demonstration terminal display are also used to send motion data to the teaching terminal processor and the demonstration terminal processor respectively; the teaching terminal processor and the demonstration terminal processor are used to identify special motion data in the motion data, and trigger corresponding preset specific instructions according to the special motion data, and control the teaching terminal actuation structure and the demonstration terminal actuation structure to produce corresponding actions according to the instructions respectively.
8. The remote medical teaching system according to claim 4, characterized in that, The navigation system includes a navigation display and a pose acquisition device; the pose acquisition device is used to acquire the real-time pose of the corresponding teaching end actuation structure or the demonstration end actuation structure, and based on the real-time pose and the various boundaries and data defined by the teaching planning scheme, acquire the positional relationship between the teaching end actuation structure or the demonstration end actuation structure and the various boundaries defined by the teaching planning scheme.
9. The remote medical teaching system according to claim 4, characterized in that, Both the teaching terminal display and the demonstration terminal display include head-mounted displays.
10. The remote medical teaching system according to claim 1, characterized in that, The teaching terminal actuation structure is equipped with a first emergency stop button; the first emergency stop button is used to urgently stop the teaching terminal actuation structure and the demonstration terminal actuation structure. The demonstration terminal actuation structure is equipped with a second emergency stop button; the second emergency stop button is used to stop the demonstration terminal actuation structure in an emergency.