Medical intelligent interactive system and method, operating room, computer-readable storage medium

Abstract

This invention provides a medical intelligent interactive system and method, an operating room, and a computer-readable storage medium. The system includes: a surgical chair comprising an electric adjustment mechanism and a pressure sensor array; an imaging equipment module with a programmable control interface; a main control unit communicatively connected to both the surgical chair and the imaging equipment module; a communication link; and a safety monitoring unit for sending an emergency stop command to the main control unit when the distance between the surgical chair and the imaging equipment module is detected to be less than a preset safety threshold. By implementing this invention, the system structure can be optimized, system costs reduced, and the overall stability and safety of the system improved. It also enhances bidirectional information transmission and collaborative control between the surgical chair and the equipment within the system, and dynamically adjusts the position, angle, and height of the surgical chair.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and more specifically, to a time-sensitive network-based intelligent interactive system for medical surgery and its control method, an intelligent operating room system, and a computer-readable storage medium, which is particularly suitable for surgical scenarios requiring dynamic X-ray fluoroscopy guidance, such as cardiovascular intervention, neurovascular intervention, and peripheral vascular intervention. Background Technology

[0002] In modern surgery, large C-mode X-ray imaging equipment is widely used for real-time image guidance. However, currently in clinical practice, large C-mode equipment and surgical chairs are mostly controlled independently, lacking an automatic coordination mechanism. Frequent manual adjustments to the chair position, angle, and height during surgery can easily lead to surgeon fatigue, affecting surgical efficiency and accuracy. Furthermore, because the chair lacks real-time monitoring and feedback on the surgeon's condition, it cannot provide timely fatigue warnings or reminders regarding compliance with surgical positioning.

[0003] In large-scale procedures such as cardiovascular intervention, electrophysiology, and electro-interventional tumor treatment that require dynamic X-ray fluoroscopy, the operator maintains a standing or semi-sitting posture for a long time, and the high-intensity operation leads to fatigue in the shoulders, neck, and lower back. At the same time, the rotation, pitch, and translation of the C-arm require reserved space, and slight carelessness can affect the imaging angle and may also cause interference with the operator or equipment.

[0004] More seriously, current technology cannot meet the surgical needs of patients who cannot lie flat. In clinical practice, approximately 5-10% of patients are unable to undergo surgery in the traditional supine position due to various medical conditions, including patients with severe COPD, heart failure, severe spinal diseases, late-term pregnancy, and severe obesity. These patients experience difficulty breathing, hemodynamic instability, or severe discomfort when lying flat.

[0005] Current common approaches are mostly based on one-way control—the surgeon passively yields to the C-arm during movement, or the nurse manually adjusts the seat height and angle. This is inefficient, prone to errors, and lacks postoperative data analysis capabilities. For patients who cannot lie flat, existing equipment is even more ineffective, severely limiting treatment options for these patients. Therefore, researching how to construct a system that enables human-device collaboration, a two-way information flow closed loop, and continuous learning and optimization, especially an intelligent system adaptable to seated surgery, has become one of the urgent problems to be solved in the industry. Summary of the Invention

[0006] In view of this, the present invention aims to propose a medical intelligent interactive system and method, an operating room, and a computer-readable storage medium to solve the problems existing in the prior art where the large C-shaped device and the surgical chair are mostly controlled independently, lacking an automatic coordination mechanism between the two. This results in frequent manual adjustments of the chair position, angle, and height during surgery, which can easily lead to surgeon fatigue and affect surgical efficiency and accuracy. The rotation of the large C-shaped device can easily interfere with the surgeon or the device, and the manual adjustment of the existing surgical chair is prone to low adjustment efficiency and easy misoperation. In particular, it aims to solve the major clinical challenge of patients who cannot lie flat and therefore cannot undergo interventional surgery.

[0007] The technical effects achieved by this invention include: optimizing the system structure, reducing system costs, and improving the overall stability and safety of the system. It also enhances bidirectional information transmission and collaborative control between the surgical chair and the large C-device within the system, and enables dynamic adjustment of the surgical chair's position, angle, and height, while utilizing pressure sensors within the surgical chair to monitor the surgeon's posture and load distribution in real time. Most importantly, this invention provides a safe and effective sitting-based interventional surgery solution for patients who cannot lie flat, significantly expanding the applicable patient population for interventional treatment.

[0008] To achieve the above objectives, the technical solution of the present invention is implemented as follows:

[0009] This invention relates to a medical intelligent interactive system and method, an operating room, and a computer-readable storage medium. The medical intelligent interactive system includes:

[0010] Surgical chair: includes an electric adjustment mechanism and a pressure sensor array, wherein the pressure sensor array is set in the force-bearing area of ​​the surgical chair to acquire the surgeon's body posture information and load distribution in real time;

[0011] Imaging equipment module: It has a programmable control interface and can receive and execute control commands regarding boom rotation angle, trajectory speed, X-ray projection parameters and collision detector;

[0012] Main control unit: It is communicatively connected to the surgical chair and the imaging equipment module respectively, and is used to run the collaborative control algorithm to generate bidirectional adaptive control commands based on the target motion trajectory of the imaging equipment module and the body posture data collected by the pressure sensor array;

[0013] Communication link: It adopts a structured data frame format to transmit status information and control commands between the main control unit, surgical chair and imaging equipment module;

[0014] Safety monitoring unit: includes a non-contact distance detection device, used to send the required instructions to the main control unit when the distance between the surgical chair and the imaging equipment module is less than a preset safety threshold.

[0015] The instruction mentioned therein is a braking instruction or an avoidance control instruction.

[0016] Furthermore, the electric adjustment mechanism has six degrees of freedom, and the pressure sensor array is located within the required force-bearing area of ​​the surgical chair's seat cushion and / or backrest. The imaging equipment module is a large C-arm X-ray imaging device; the communication link is a time-sensitive network (TSN) based communication link. The TSN has network time synchronization capabilities, with a time synchronization accuracy between nodes not exceeding 1 microsecond, supporting deterministic data transmission and priority queue management to ensure the real-time transmission of critical control commands. The electric adjustment mechanism includes a lifting cylinder, a pitch motor, a rotation motor, and a two-dimensional translation slide, used to achieve precise positioning of the surgical chair in three-dimensional space and adaptive adjustment of its pitch and rotation attitudes. The lifting cylinder has a lifting stroke of at least 400 mm, the pitch motor has a pitch angle range of -15° to +30°, and the rotation motor has a rotation angle range of 0° to 360° continuously. The programmable control interface of the imaging equipment module supports real-time adjustment of relevant control parameters, including any one or more of the following: C-arm rotation angle control parameters, X-ray tube voltage control parameters, X-ray tube current control parameters, and collision detection sensitivity control parameters. The system also includes a human-computer interaction terminal, comprising: a touch screen that displays intraoperative posture diagrams, fatigue index, equipment status, and safety warning information; a voice assistant that supports natural language command recognition and can accept relevant voice control commands; and a foot switch that provides emergency confirmation and rapid response functions, including any one or more of the following functions: confirmation prompts, pause operation, and resume control.

[0017] A medical intelligent interaction method, based on the aforementioned medical intelligent interaction system, includes the following steps:

[0018] Step 1: System Initialization: Identify the surgeon's identity, load personalized configuration parameters, and check device status;

[0019] Step 2: Real-time data acquisition: Synchronously acquire the target motion trajectory from the imaging device module and the real-time body posture data from the pressure sensor array;

[0020] Step 3: Intelligent Analysis and Processing: Execute the collaborative control algorithm within the main control unit to analyze the trend of body posture changes and predict the intention of operation;

[0021] Step 4: Command Generation and Issuance: Generate synchronous control commands for the surgical chair and imaging equipment modules, and transmit them via a time-sensitive network;

[0022] Step 5, Safety Monitoring and Response: Continuously monitor the data detected by the safety monitoring unit, compare the monitored distance data with the preset multi-level safety thresholds, and perform corresponding deceleration, hovering or emergency stop operations based on the comparison results;

[0023] Step Six: Adaptive Optimization: Based on feedback data during use, dynamically adjust control parameters to improve the system's adaptability to the scenario.

[0024] An operating room includes the aforementioned medical intelligent interactive system, which is connected to other medical devices in the operating room via a unified communication protocol to form an intelligent control network. The other medical devices include at least one or more of surgical lights, air conditioning systems, audio systems, and monitoring equipment.

[0025] A computer-readable storage medium stores computer program code for implementing the aforementioned medical intelligent interaction method, the computer program code including code within any one or more modules of a collaborative control algorithm module, a security monitoring module, a human-computer interaction module, and a data communication module.

[0026] Compared with existing technologies, the medical intelligent interactive system and method, operating room, and computer-readable storage medium described in this invention have the following advantages:

[0027] By configuring the aforementioned interactive system, the system structure can be optimized, system costs reduced, and the overall stability and safety of the system improved. It also enhances bidirectional information transmission and collaborative control between the surgical chair and the large C-device within the system. Furthermore, it enables dynamic adjustment of the surgical chair's position, angle, and height, and utilizes pressure sensors within the surgical chair to monitor the surgeon's posture and load distribution in real time. Most importantly, this invention provides a breakthrough solution to the challenge of interventional surgery for patients who cannot lie flat, offering a safe and effective treatment option for approximately 15-20% of this special patient group, filling a gap in medical technology, and possessing significant life-saving value. Attached Figure Description

[0028] The accompanying drawings, which constitute a part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0029] Figure 1 This is a schematic diagram of the overall system structure;

[0030] Figure 2 This is a schematic diagram of the layout of the seat pressure sensor array;

[0031] Figure 3 This is a schematic diagram of the system's data transmission and processing flow;

[0032] Figure 4 This is a schematic diagram of the logic flow of the collaborative control mechanism.

[0033] Figure 5This is a schematic diagram of the surgical chair structure;

[0034] Figure 6 This is a schematic diagram of the control interface for the imaging equipment module;

[0035] Explanation of reference numerals in the attached diagram: 1. Surgical chair; 11. Electric adjustment mechanism; 111. Lifting cylinder; 112. Pitch motor; 113. Rotary motor; 114. Two-dimensional translation slide; 12. Pressure sensor array; 121. Seat cushion sensor area; 122. Backrest sensor area; 13. Cooperative control unit; 14. Seat support base; 15. Controller housing; 16. Power connection cable; 17. Communication interface; 2. Imaging equipment module; 21. Programmable control interface; 211. 212 Angle control unit; 213 X-ray parameter control unit; 214 Motion control unit; 215 Status feedback unit; 226 C-arm body; 227 X-ray tube; 228 Detector; 229 Rotary joint; 220 Slide rail system; 23 Collision detection sensor; 24 Position encoder; 3. Main control unit; 310 Human-machine interaction terminal; 311 Touch screen; 312 Voice assistant; 313 Foot switch; 4. Communication link; 5. Safety monitoring unit. Detailed Implementation

[0036] The inventive concepts of this disclosure will be described below using terminology commonly used by those skilled in the art to convey the essence of their work to others skilled in the art. However, these inventive concepts can be embodied in many different forms and should not be construed as limited to the embodiments described herein. It should be noted that, without conflict, embodiments and features thereof in this invention can be combined with each other. The invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0037] To address the issues of insufficient automatic coordination between the large C-shaped surgical device and the operating chair in existing technologies, which affects surgical efficiency and accuracy; the potential interference between the rotation of the large C-shaped device and the surgeon or the device; and the low efficiency and susceptibility to errors in manual adjustment of existing operating chairs; and especially to solve the significant clinical challenge of patients who cannot lie flat and therefore cannot undergo interventional surgery, this embodiment proposes a medical intelligent interactive system, including:

[0038] Surgical seat 1: includes an electric adjustment mechanism 11 and a pressure sensor array 12. The pressure sensor array 12 is disposed in the force-bearing area of ​​the surgical seat 1 to acquire the surgeon's body posture information and load distribution in real time.

[0039] Imaging equipment module 2: It has a programmable control interface 21, which can receive and execute control commands regarding the arm rotation angle, trajectory speed, X-ray projection parameters and collision detector; wherein, imaging equipment module 2 is a large C-arm X-ray imaging device; the large C-arm refers to the X-ray imaging device with a large inner diameter that is commonly used in operating rooms.

[0040] Main control unit 3: It is communicatively connected to the surgical chair 1 and the imaging equipment module 2 respectively, and is used to run a collaborative control algorithm to generate bidirectional adaptive control commands based on the target motion trajectory of the imaging equipment module 2 and the body posture data collected by the pressure sensor array 12.

[0041] Communication Link 4: It adopts a structured data frame format and is used to transmit status information and control commands between the main control unit 3, the surgical chair 1 and the imaging equipment module 2; among them, communication link 4 is a time-sensitive network-based communication link.

[0042] Safety monitoring unit 5 includes a non-contact distance detection device. When the distance between the surgical chair 1 and the imaging equipment module 2 is less than a preset safety threshold, the device sends a required command to the main control unit 3. This command may include different levels of deceleration or an emergency stop command. Preferably, the non-contact distance detection device comprises a combination of a ToF camera and an ultrasonic radar. The ToF camera provides high-precision three-dimensional spatial distance measurement with an accuracy of at least ±5mm and a detection range of 0.1-5 meters. The ultrasonic radar provides fast-response distance monitoring with a response time of no more than 10 milliseconds and a detection angle range of at least 120°.

[0043] By setting up the aforementioned interactive system, the system structure can be optimized, system costs reduced, and the overall stability and security of the system improved. It also enhances bidirectional information transmission and collaborative control between the surgical chair 1 and the large C-device within the system. Furthermore, it enables dynamic adjustment of the position, angle, and height of the surgical chair 1, and utilizes pressure sensors within the surgical chair 1 to monitor the surgeon's posture and load distribution in real time.

[0044] In addition, the electric adjustment mechanism 11 has at least six degrees of freedom, which enhances the adjustment flexibility of the surgical chair 1. Preferably, the electric adjustment mechanism 11 has six degrees of freedom, and the pressure sensor array 12 is located in the required force-bearing area of ​​the seat cushion and / or backrest of the surgical chair 1, for real-time monitoring of the surgeon's posture information and the load distribution of the surgical chair 1. Specifically, the pressure sensor array 12 includes a seat cushion sensor area 121 and a backrest sensor area 122. The seat cushion sensor area 121 is located at the center of the seat cushion of the surgical chair 1, and the backrest sensor area 122 is located at the center of the backrest of the surgical chair 1. The pressure sensor array 12 collects the surgeon's posture data through the seat cushion sensor area 121 and the backrest sensor area 122.

[0045] Furthermore, the electric adjustment mechanism 11 includes a lifting cylinder 111, a pitch motor 112, a rotary motor 113, and a two-dimensional translational slide 114, used to realize the three-dimensional movement and pitch and rotation attitude adjustment of the surgical chair 1 in the XYZ directions shown in the figure. The lifting cylinder 111 has a lifting stroke of not less than 400mm, the pitch angle range of the pitch motor 112 is -15° to +30°, and the rotation angle range of the rotary motor 113 is 0° to 360° continuously. Specifically, the electric adjustment mechanism 11 achieves six degrees of freedom adjustment through the lifting cylinder 111, the pitch motor 112, the rotary motor 113, and the two-dimensional translational slide 114.

[0046] The pressure sensor array 12 is a 16×16 flexible thin-film strain gauge array with a sampling period of less than 5ms, and uploads pressure matrix data to the main control unit 3 via the SPI bus. Preferably, the pressure sensor array 12 includes at least 64 piezoresistive sensor units, distributed in an 8×8 or higher density matrix, with each sensor unit having a pressure detection range of 0N-100N, a detection accuracy of not less than 0.1N, and a sampling frequency of not less than 50Hz.

[0047] The surgical seat 1 also includes a collaborative control unit 13. This unit receives and analyzes data from various sensors within the surgical seat 1 and the operating status of the large C device, i.e., the imaging equipment module 2, calculates the optimal position, angle, and height of the surgical seat 1, and controls the actuators within the surgical seat 1 to automatically adjust. It also defines the data transmission and control command exchange standards between the surgical seat 1 and the large C imaging equipment module 2 through a communication protocol.

[0048] In this embodiment, the surgical chair 1 acquires and processes sensor data: a high-precision pressure sensor array 12 is arranged in the surgical chair 1, which can monitor the surgeon's weight distribution and posture changes in real time, and form body characteristic data through a data processing unit. The surgical chair 1 transmits and analyzes data by using wireless communication technologies such as Bluetooth or Wi-Fi to transmit the chair pressure data to the collaborative control unit 13 in real time, and the collaborative control unit 13 analyzes the surgeon's state changes.

[0049] Through a two-way collaborative mode, the system can adjust the seat position in real time based on the instructions of the large C device, and can also use the seat pressure sensor data to optimize the operating parameters of the large C device in reverse, such as fatigue warning, intraoperative positioning compliance reminders, and postoperative operation data analysis.

[0050] The surgical chair 1 also includes a seat support base 14 and a controller housing 15. The seat support base 14 is located at the bottom of the seat cushion of the surgical chair 1, and the controller housing 15 is located at the desired position on the bottom of the surgical chair 1. The controller housing 15 is located on the outside or inside of the seat support base 14. The surgical chair 1 also includes a power connection cable 16 and a communication interface 17. The two ends of the power connection cable 16 are connected to the surgical chair 1 and an external power source, respectively. One end of the communication interface 17 is connected to the surgical chair 1, and the other end of the communication interface 17 is connected to the imaging equipment module 2, the main control unit 3, and the safety monitoring unit 5, respectively.

[0051] The seat support base 14 ensures the overall structural stability and safety of the surgical seat 1 when its angle changes. The controller housing 15 ensures the safety of all components within the collaborative control unit 13 mounted on the surgical seat 1, enhancing protection for the collaborative control unit 13. The power connection cable 16 and communication interface 17 improve the safety of the connection between the surgical seat 1 and the external power supply, and also ensure the convenience and reliability of communication between the surgical seat 1 and related components within the system.

[0052] The programmable control interface 21 of the imaging equipment module 2 supports real-time adjustment of relevant control parameters. These parameters include any one or more of the following: C-arm rotation angle control parameters, X-ray tube voltage control parameters, X-ray tube current control parameters, and collision detection sensitivity control parameters. The programmable control interface 21 includes an angle control unit 211, a X-ray parameter control unit 212, a motion control unit 213, and a status feedback unit 214. These units are all located on the main panel of the programmable control interface 21, allowing for selective setting of their corresponding positions via different interfaces. This enables stable connection and bidirectional communication between the imaging equipment module 2 and components such as the C-arm, ensuring the safety and accuracy of interactions between components within the system, preventing signal interference, and improving the efficiency of information exchange.

[0053] The imaging module 2 of the large C-arm X-ray imaging device includes a C-arm body 22, a collision detection sensor 23, and a position encoder 24. Both the collision detection sensor 23 and the position encoder 24 are located at their designated positions on the C-arm body 22 to ensure the safety of the C-arm body 22 during use. By monitoring collision events between the C-arm body 22 and the operating room environment in real time, a protection mechanism is triggered based on changes in pressure or acceleration, thereby preventing contact injuries between the C-arm body 22 and personnel or other components. The position encoder 24 allows for real-time monitoring of the C-arm body 22's displacement, angle, or velocity, providing precise position feedback and enabling closed-loop control and trajectory adjustment.

[0054] The C-arm body 22 includes a X-ray tube 221, a detector 222, a rotary joint 223, and a slide rail system 224. The X-ray tube 221 and detector 222 are located at opposite ends of the rotary joint 223. The slide rail system 224 is connected to the rotary joint 223 via a support device and is located below the rotary joint 223. The X-ray tube 221, detector 222, rotary joint 223, and slide rail system 224 are communicatively connected to the X-ray parameter control unit 212, the status feedback unit 214, the angle control unit 211, and the motion control unit 213, respectively, to improve the accuracy of the system's control over the C-arm body 22 and ensure the safety of using the C-arm body 22.

[0055] Specifically, the C-arm rotation angle control parameters include: the C-arm rotation angle accuracy is 0.1°, and the C-arm rotation speed is adjustable within the range of 0.1° / s to 10° / s; the X-ray tube voltage control parameters include: the X-ray tube voltage range is 40kV to 125kV, and the X-ray tube step voltage is 1kV; the X-ray tube current control parameters include: the X-ray tube current range is 0.1mA to 1000mA, and the X-ray tube step current is 0.1mA; the collision detection sensitivity control parameters of the collision detection sensor 23 can be switched between high, medium, and low levels.

[0056] The programmable control interface 21 of the imaging device module 2 supports the adjustment of relevant parameters, which can ensure the compatibility between the imaging device module 2 and different connected devices, and improve the flexibility and reliability of communication between the imaging device module 2 and other devices.

[0057] The main control unit 3 also includes a fatigue assessment module. This module analyzes long-term data changes of the pressure sensor array 12 to calculate the surgeon's fatigue index and provides rest suggestions or automatically optimizes the device position when the fatigue index exceeds a preset threshold. Long-term data changes include any one or more of the following: standard deviation of pressure distribution, frequency of center of gravity shift, and number of posture adjustments. The main control unit 3 is configured with a forward collaboration mode and a reverse collaboration mode. In the forward collaboration mode, the large C-arm imaging device module 2 sends a preview of its motion trajectory to be executed, and the main control unit 3 calculates the yielding path of the surgical seat 1 based on the predicted potential interference area. Specifically, in the forward collaboration mode, the large C-arm imaging device module 2 sends a predicted trajectory when preparing to change the shooting angle. The main control unit 3 predicts the potential interference area of ​​the surgical seat 1, uses inverse kinematics to obtain the optimal yielding path of the seat, and outputs the required path movement of the surgical seat 1. 0.2 seconds before this, it sends a command to the actuator of the surgical seat 1 to ensure that the arm moves only after the yielding action.

[0058] In the reverse collaboration mode, the main control unit 3 adjusts the motion posture and X-ray projection parameters of the large C-arm imaging device module 2 based on real-time data from the pressure sensor array 12. Specifically, the pressure sensor array 12 calculates the real-time motion path and pressure gradient value. When the pressure gradient value exceeds a threshold, the system alerts the surgeon to significant bias or fatigue, thus triggering a posture reminder.

[0059] In addition, the main control unit 3 is trained offline on historical patient position and perspective data based on an LSTM-Transformer hybrid neural network model to predict changes in the surgeon's position in the next time period and adjust the position of the surgical chair 1 in advance. Specifically, the main control unit 3 has a built-in FPGA+SoC chip and runs a collaborative control algorithm. It supports Ethernet / real-time Ethernet and CAN-FD dual buses, as well as a Wi-Fi 6E backup link.

[0060] In addition, when the main control unit 3 detects that the pressure gradient exceeds a preset threshold and the duration is greater than 30 seconds, it triggers a fatigue warning and outputs voice or graphic prompts to the surgeon through the human-machine interface terminal 31. The human-machine interface terminal 31 in the system includes a touch screen 311, a voice assistant 312, and a foot switch 313. Preferably, the touch screen 311 is a 10.1-inch capacitive touch screen. The touch screen 311 is used to display intraoperative posture diagrams, fatigue index, equipment status, and safety warning information; and allows the surgeon to confirm the prompts through the foot switch 313. The voice assistant 312 supports natural language command recognition and can accept relevant voice control commands; relevant voice control commands include: "raise the seat" or "rotate the C-arm". The foot switch 313 is used to provide emergency confirmation and rapid response functions, including confirmation prompts, pause operation, and resume control functions.

[0061] Preferably, the main control unit 3 recalculates the minimum dose feasible shooting angle of the imaging equipment module 2 based on the surgeon's operating side inclination and target perspective, and then sends an adjustment command to the imaging equipment module 2. A machine learning optimization system is used to collect historical data on the state of the surgical chair 1 and the imaging equipment module 2 under different surgeons, surgical procedures, and patient positions. An offline training system combining a long short-term memory network and a self-attention mechanism (LSTM-Transformer) hybrid network is used to predict possible positional changes and perspective requirements in the next time period, enabling predictive fine-tuning.

[0062] The configuration of the components within the main control unit 3 facilitates real-time control of the system by the main control unit 3 and enables the main control unit 3 to perform machine learning. This, in turn, improves the system's adjustment accuracy and reliability.

[0063] Communication link 4 employs a real-time Ethernet and CAN-FD network based on Time-Sensitive Networking (TSN), and encapsulates data frames using Protocol Buffers serialization format. The structured data frame format of communication link 4 includes FrameID, Timestamp, Type, Payload, and CRC fields, used to define the bidirectional data interaction between the surgical chair 1 and the large C-arm imaging device module 2. Specifically, FrameID identifies the frame sequence, Timestamp ensures time synchronization, Type indicates the data type, Payload carries specific control data, and the CRC field provides data integrity verification. Preferably, the Payload is version-controlled based on the extended field version. Specifically, the Payload uses Protocol Buffers v3 serialization, supports extended field version control and backward compatibility, has a data transmission latency of no more than 1ms, and supports processing up to 1000 concurrent messages. It is important to note that the Time-Sensitive Network has network time synchronization capabilities, with time synchronization accuracy between nodes not exceeding 1 microsecond, supporting deterministic data transmission and priority queue management to ensure the real-time transmission of critical control commands.

[0064] By configuring the communication link 4, the stability and reliability of system interaction can be improved, the security of system interaction can be ensured, and the operational accuracy of the system can be enhanced.

[0065] Upon triggering an emergency stop command, the safety monitoring unit 5 simultaneously sends an EmergencyStop frame to both the surgical chair 1 and the large C-arm imaging device module 2 via a high-priority QoS channel, causing both to immediately stop moving and enter a locked state. The main control unit 3 supports an HL7-FHIR data interface, packaging and uploading the status data during the surgery to the hospital information system (HIS / PACS) for postoperative quality assessment.

[0066] The safety monitoring unit 5 employs a dual-layer collision protection mechanism, utilizing redundant monitoring by a ToF camera and ultrasonic radar based on 3D point clouds. In emergency stop mode, the broadcast frame has the highest priority (QoS=7), causing the surgical chair 1 and the large C-arm imaging module 2 to simultaneously stop and lock. This system features dynamic human-machine interaction, eliminating the need for manual adjustments by the surgeon and reducing positioning time by 30%. It also optimizes radiation dose, adjusting angles based on real-time body posture feedback, reducing the average radiation dose to both patients and surgeons by 12%. Furthermore, it provides fatigue warnings, achieving 91% accuracy in pressure spectrum and time-series models, and providing a 5-minute advance warning during surgery, thereby enhancing system stability and safety.

[0067] The safety monitoring unit 5 also includes an intelligent safety algorithm module, which can: comprehensively analyze the detection results of ToF camera and ultrasonic radar based on the needs of multi-sensor data fusion technology; use Kalman filtering algorithm to eliminate sensor noise and improve the accuracy and stability of distance detection; and realize motion trajectory prediction, providing early warning of possible collision risks before a preset time t1 seconds; t1 is a positive number. The value of t1 ranges from 3 to 5.

[0068] By setting up the intelligent safety algorithm module, the accuracy of detection of each component in the safety monitoring unit 5 can be effectively improved, noise interference can be reduced, and the operational safety and stability of the system during surgery can be enhanced.

[0069] The system also includes an adaptive learning module, which can: record the physical characteristics and operating habits of different surgeons, and / or establish personalized control parameter models, and / or automatically load corresponding optimized configurations according to the type of surgery, and / or continuously optimize the control algorithm to improve the adaptation accuracy.

[0070] The system supports preset modes for various surgical procedures, including: cardiovascular interventional surgery mode: optimizing the viewing angle for cardiac and angiography, as well as improving surgeon comfort; neurovascular interventional mode: adapting to the specific angle requirements of intracranial angiography; and peripheral vascular interventional mode: optimizing equipment configuration for limb angiography. The cardiovascular, neurovascular, and peripheral vascular interventional modes all include preset initial equipment positions, range of motion limitations, and safety parameters.

[0071] By configuring the adaptive learning module, the system's adaptability can be effectively improved, optimizing and enhancing its accuracy and ease of use based on actual operating conditions. Furthermore, by pre-setting various surgical types, it is possible to perform different surgeries without needing to readjust the settings, thus saving pre-operative preparation time and expanding the system's applicability.

[0072] A control method for a medical intelligent interactive system, based on the aforementioned medical intelligent interactive system, the method comprising the following steps:

[0073] Step 1: System Initialization: Identify the surgeon's identity, load personalized configuration parameters, and check device status;

[0074] Step 2: Real-time data acquisition: Synchronously acquire the target motion trajectory of the imaging device module 2 and the real-time body posture data of the pressure sensor array 12;

[0075] Step 3: Intelligent Analysis and Processing: The collaborative control algorithm is executed within the main control unit 3 to analyze the trend of body posture changes and predict the intention of operation;

[0076] Step 4: Command Generation and Issuance: Generate synchronous control commands for surgical chair 1 and imaging equipment module 2, and transmit them through a time-sensitive network;

[0077] Step 5, Safety Monitoring and Response: Continuously monitor the data monitored by the safety monitoring unit 5, compare the monitored distance data with the preset multi-level safety thresholds, and perform corresponding deceleration, hovering or emergency stop operations based on the comparison results;

[0078] Step Six: Adaptive Optimization: Based on feedback data during use, dynamically adjust control parameters to improve the system's adaptability to the scenario.

[0079] By implementing the aforementioned method, the flexibility and stability of information exchange between components within the interactive system can be effectively improved. Furthermore, intelligent analysis enhances the precision of system control, security monitoring and response improve operational safety and reliability, and adaptive optimization ensures the overall flexibility and adaptability of system control. Ultimately, this effectively guarantees the efficient and stable operation of the system.

[0080] The collaborative control algorithm in step three includes: a posture recognition module, which identifies the surgeon's sitting posture, tilt, and center of gravity by analyzing the pressure distribution pattern of the pressure sensor array 12; a motion prediction module, which predicts the equipment position requirements for the future time period t1 based on the motion trajectory of the imaging device module 2 and the surgeon's posture change trend; and a command generation module, which generates synchronized control commands for the surgical chair 1 and the imaging device module 2 by combining the posture recognition results and motion prediction results.

[0081] The posture recognition module uses a classifier trained with machine learning algorithms to recognize at least five basic posture patterns, including: normal sitting posture, forward-leaning operating posture, backward-leaning resting posture, left and right tilting posture, and standing ready posture, with a recognition accuracy of no less than 95%.

[0082] By implementing a collaborative control algorithm, the system enhances the smoothness and efficiency of surgical procedures. Through the coordinated operation of posture recognition and motion prediction modules, the system can anticipate the surgeon's intentions and automatically and synchronously adjust the positions of the surgical chair 1 and the imaging equipment module 2. This reduces the number of interruptions the surgeon needs to manually adjust the equipment during the procedure, allowing them to focus more on the surgery itself, thus shortening the operation time and improving overall efficiency. Furthermore, it enables highly intelligent and human-centered interaction. By employing machine learning algorithms, the system can accurately recognize various subtle posture patterns (such as leaning forward during operation or leaning back to rest). This allows the equipment to understand the surgeon's different working states (such as being focused on the procedure or taking a short rest) and respond in a way that best suits the current needs, providing an unprecedented intelligent human-computer interaction experience. Moreover, by proactively adapting to the surgeon's posture and automatically adjusting the equipment to the optimal position, the system can also reduce the surgeon's physical exertion and fatigue.

[0083] In step five, the safety monitoring unit 5 is equipped with a multi-level safety threshold system, which includes: a first-level warning threshold: when the detection distance is less than 800mm, an audible and visual warning signal is issued and the distance value is displayed on the screen; a second-level deceleration threshold: when the detection distance is less than 500mm, the device's movement speed is automatically reduced to 30% of the safe speed, and a voice warning is activated; and a third-level emergency stop threshold: when the detection distance is less than 200mm, an emergency stop command is immediately triggered and all electric mechanisms are locked, while a buzzer alarm is activated.

[0084] By setting three levels of thresholds—early warning, deceleration, and emergency stop—the system achieves a progressively enhanced safety response mode, from alerts and interventions to emergency braking. It also enables multi-layered, progressive active safety protection for components, avoiding false triggering or insufficient response caused by a single threshold. This ensures the safety of equipment movement and minimizes the risk of collisions between equipment and personnel or patients.

[0085] In addition, the multi-level safety threshold system has an adaptive adjustment function: first, it automatically adjusts the safety distance threshold according to different surgical types; second, it learns and optimizes the warning timing based on the surgeon's operating habits; and third, it supports manual customization of safety parameters to meet special surgical needs.

[0086] By employing adaptive adjustment features, safety is ensured while minimizing unnecessary interference with normal operations, achieving a balance between safety and efficiency. This effectively enhances the system's adaptability to various scenarios. Furthermore, the ability to manually customize safety parameters provides flexible and customizable safety strategies, significantly improving the system's applicability and reliability in diverse medical environments.

[0087] An operating room includes the medical surgery intelligent interaction system. The interaction system is connected to other medical devices in the operating room through a unified communication protocol to form an intelligent control network. The other medical devices include at least one or more of surgical lights, air conditioning systems, audio systems, and monitoring devices. Among them, the unified communication protocol supports device status synchronization, linkage control, and centralized management. When the operating chair 1 or the imaging device module 2 is adjusted in position, the surgical light automatically follows to adjust the lighting angle, and the air conditioning system adjusts the wind direction according to the position of the personnel.

[0088] The interaction system is connected to key environmental devices such as surgical lights and air conditioners through a unified communication protocol to form a network, breaking the information silos between devices. When the operating chair 1 or the imaging device module 2 moves, the surgical light can automatically track the lighting, and the air conditioner can intelligently adjust the wind direction, creating an integrated intelligent operating environment that can actively respond to surgical needs, and further enabling the high integration and intelligent linkage of operating room devices. By the linkage control of devices, the steps for medical staff to manually adjust various environmental devices are reduced, which can optimize the operating room work process and environmental experience. In addition, the unified network enables the status of all connected devices to be monitored synchronously and supports centralized management, laying a foundation for the digital management and remote collaboration of the operating room, and further improving the centralization and intelligent level of operating room management.

[0089] A computer-readable storage medium stores computer program code for implementing the control method of the medical surgery intelligent interaction system. The computer program code includes code in any one or more of the collaborative control algorithm module, security monitoring module, human-computer interaction module, and data communication module. Among them, the computer program code further includes a machine learning training module for training and updating the body posture recognition model, fatigue assessment model, and personalized adaptation model according to historical usage data.

[0090] Through the core methods such as the collaborative control and security monitoring of the entire interaction system, through specific computer program code, the intelligent interaction system can run and be implemented in various computing hardware in the form of software, effectively ensuring the realizability and deployability of the system functions. In addition, the realizability and deployability of the system functions can also be given through the setting of the built-in machine learning training module. Moreover, the program code can be divided into different modules according to functions. This clearly structured design is convenient for software development, debugging, updating, and maintenance, and is also convenient for future function expansion and upgrade, thus effectively ensuring the modularity and maintainability of the system.

[0091] Preferably, the control method of the medical surgery intelligent interaction system is applied to the medical surgery intelligent interaction system, and the method includes the following steps:

[0092] Step 1: Monitor and acquire the target motion trajectory of the large C-arm imaging device module 2 or the real-time body posture data of the pressure sensor array 12 inside the surgical seat 1 in real time;

[0093] Step 2: Based on the acquired data, execute the collaborative control algorithm in the main control unit 3 to generate control commands for the surgical chair 1 or the large C-arm imaging device module 2;

[0094] Step 3: Send control commands to the corresponding devices through the time-sensitive network-based communication link 4;

[0095] Step 4: Collect data from safety monitoring unit 5. If a collision risk is detected, broadcast an emergency stop command.

[0096] In step two, the main control unit 3, in forward collaboration mode, needs to pre-adjust the seat position ts before the target trajectory is executed, where t is a positive number, preferably 0.2. Additionally, in reverse collaboration mode, when the pressure gradient exceeds a threshold, the X-ray projection angle of the large C-arm imaging device module 2 is adjusted to reduce surgeon posture bias. The method also predicts surgeon position changes based on a machine learning model and generates fine-tuning instructions in advance within the main control unit 3.

[0097] By setting up the method described above, the interaction complexity between the surgical chair 1 and the imaging equipment module 2 can be effectively simplified, the interaction cost between the two can be reduced, and the interaction accuracy between the two can be improved.

[0098] Example 1: Hardware Integration

[0099] The main control unit 3 is connected via TSN-Ethernet to the driver in the surgical chair 1, the controller in the large C device (i.e., the imaging equipment module 2), and the human-machine interface terminal 31. The surgical chair 1 consists of a lifting electric cylinder 111, a pitch motor 112, a rotation motor 113, and a two-dimensional translation slide 114, forming a six-degree-of-freedom motion platform. Each sensing unit in the pressure sensor array 12 is an 8mm×8mm flexible thin-film strain gauge, arranged in a 16×16 array, connected to the onboard MCU via an SPI bus, completing full array sampling and packet transmission within 5ms.

[0100] Example 2: Forward Collaboration Process

[0101] The radiologist selects the target beam angle on the control panel of the large C-mount device, i.e., imaging device module 2 (e.g., LAO 30° / CRA 20°, where LAO refers to the left anterior oblique view, that is, with the patient's anterior position as the 0-degree reference, the X-ray tube 221 is moved to the left of the patient, while the detector 222 is moved to the right of the patient, so that the X-ray is directed from the right rear of the patient to the left front; 30° means that it is rotated 30 degrees to the left from the anterior position. CRA refers to the cephalic view, that is, with the X-ray perpendicular to the patient's body as the 0-degree reference, the X-ray tube 221 is moved towards the patient's head, while the detector 222 is moved towards the patient's feet, so that the X-ray is directed from below the patient to above; 20° means that it is tilted 20 degrees from the vertical direction towards the cephalic view).

[0102] The controller of the large C-arm imaging device module 2 generates a three-dimensional trajectory point sequence T = {p1, p2, ..., pn} and sends the predicted trajectory. The main control unit 3 calculates the safety envelope between the surgical seat 1 and the imaging device module 2, and uses constraint optimization (minΣΔd) to avoid interference; it outputs the path S(t) of the surgical seat 1 and sends it to the actuator inside the surgical seat 1. After the surgical seat 1 completes its pre-yield, the main control unit 3 issues a trigger movement command (TriggerMove), and the C-arm executes the trajectory. In actual operation, the ToF camera continuously monitors, and if the distance is <120mm, an emergency pause is triggered.

[0103] Example 3: Reverse Collaboration and Fatigue Early Warning

[0104] When the pressure sensor array 12 detects that the load percentage of the front edge of the surgical chair 1's seat cushion is greater than 65%, the system determines that the surgeon is in a forward-leaning position. At this time, the system's pressure gradient value is greater than the threshold, generating a posture reminder. Simultaneously, the algorithm can predict the surgeon's intended needs by referring to historical models, making the adjustment of the surgical chair 1 closer to the preset angle of the left anterior oblique position (LAO). Therefore, it sends an adjustment command (Δθ = -5°) to the controller of the imaging device module 2. If the surgeon ignores both prompts, the system displays a pop-up window and voice reminder on the HMI (human-machine interface) 31: "Please take a short rest or adjust your position."

[0105] Example 4: Postoperative Data Analysis

[0106] After the procedure, all status data of the surgical chair 1 and imaging equipment module 2 are packaged and uploaded to the hospital's internal HIS / PACS server via HL7-FHIR, generating a PDF report. The human-computer interaction terminal 31 includes any one or more pieces of information from the following: body position change curve, fatigue index trend over time, radiation dose and viewing angle statistics for each frame, and a list of suggested actions for improvement.

[0107] Example 5: Standard Version for Cardiovascular Interventional Centers

[0108] This system was deployed in the cardiac catheterization lab. The surgical chair 1 uses a 150kg load six-DOF platform, and the pressure sensor array 12 is 16×16 with a refresh rate of 200Hz. The imaging module 2's C-arm is a 30kW fixed-frame type, with a full-trajectory trajectory preview pushed 800ms in advance. In forward collaboration mode, a "yield first, then X-ray" strategy is enabled: when the physician switches between LAO 30° and CRA 20°, the surgical chair 1 first lowers 120mm and moves back 180mm, taking only 0.6s; the imaging module 2 then completes a 220° rotation.

[0109] In reverse collaboration mode, it is mainly used for long-term CTO (Cyclic Tortuous Wire) maneuvers. Specifically, when the load on the anterior edge of the surgical chair cushion (>65%) is detected and maintained for 60 seconds, the system fine-tunes the C-arm angle in imaging module (2) by -4° to reduce surgeon forward tilting. The monitored data is directly archived to Cath-Lab PACS via HL7-FHIR, generating a dose-position dual-dimensional report post-operatively. Based on data from six months of system use, after actual application, surgeon complaints of lower back pain decreased by 28%, and the average access time was reduced by 11%.

[0110] Example 6: Upgraded version of neurointerventional operating room

[0111] Neurointerventions often employ specific head positions and oblique lateral views, requiring higher accuracy in predicting the C-arm pitch angle of the imaging module 2. The surgical chair 1 features a newly added neck pillow and a three-axis micro-servo system. The collaborative control algorithm within the main control unit 3 incorporates a "vertebral artery window" safety zone model. When a surgeon's neck lateral bending angle is detected to be >15° and lasts for 20 seconds, the backrest of the surgical chair 1 is increased by 8° to facilitate pitch compensation and prompt a short rest. Simultaneously, the C-arm pitch of the imaging module 2 is reduced by 5° to maintain lateral view quality. With an average cerebral thrombectomy procedure time of approximately 50 minutes, the upgraded ToF camera and radar enable collision avoidance and real-time clearance coordination. This effectively increases the closest distance between the C-arm of the imaging module 2 and the surgeon from 90mm to 140mm, significantly reducing the risk of collision.

[0112] Example 7: Combination of mobile imaging equipment module 2 and integrated surgical chair 1

[0113] The system utilizes the C-arm of the mobile imaging module 2, which only supports the CAN-FD interface. The Time-Sensitive Network (TSN) backbone has been removed, and a dual-link system of CAN-FD and Real-Time Ethernet Wi-Fi 6E has been adopted. The six degrees of freedom of the surgical seat 1 has been changed to four degrees of freedom (no translation), and the pressure sensor array 12 is an 8×12 array. The algorithm retains reverse posture compensation but disables the machine learning module, replacing the FPGA-SoC with a Raspberry Pi CM5, effectively reducing costs by 30%. Postoperative data is exported as PDF and uploaded to the hospital's HIS database via the hospital's WLAN, without relying on PACS. The estimated payback period for the equipment is 18 months after three months of project deployment, making it suitable for rapid upgrades in small to medium-sized centers.

[0114] Example 8: Robot-Assisted Surgery Hybrid Operating Room

[0115] The operating room is equipped with a cardiac surgery robot and the C-arm of the 8-axis imaging equipment module 2. The surgical seat 1 needs to be synchronized with the robot's main control. The system divides two VLANs within the Time-Sensitive Network (TSN) switch: a safe channel for robot-surgical seat 1 and a collaborative channel for imaging equipment module 2-surgical seat 1. The priority of forward collaboration is adjusted to the robot first, followed by the C-arm of imaging equipment module 2. The pressure sensor array 12 provides real-time data feedback to the robot controller for adaptive end-effector posture; meanwhile, the C-arm of imaging equipment module 2 only begins to rotate after confirmation of clearance. This three-way collaboration significantly reduces the waiting time between multiple instruments, shortening the average hybrid coronary artery bypass graft (Hybrid-CABG) surgery by 15 minutes.

[0116] Example 9: Synchronization of Dual-Image System in Multiple Stations

[0117] The large center is equipped with two imaging equipment modules (A and B) with C-arms and a movable surgical chair (1). A new multicast control module has been added to the system. The main control unit (3) dynamically acquires the C-arm IP of the imaging equipment module (2) based on its location within the station and switches the Time-Sensitive Network (TSN) stream; the pressure sensor array (12) synchronizes data to the cloud, thus enabling data sharing between the two sets of equipment. If the surgical chair (1) is used in room A, room B only receives low-frequency broadcasts for AI training; when switching to room B, the master-slave switch is completed instantaneously, with an average switching time of 3.2 seconds. This significantly improves equipment utilization and maintains a unified fatigue assessment model.

[0118] Example 10: Training Simulation and Surgeon Learning Platform

[0119] Deploying an offline version of the C-arm simulator (operating chair 1 - imaging equipment module 2) in a teaching hospital enables virtual rendering to replace real radiation for C-arm movement. The pressure sensor array 12 is consistent with the 6-DoF platform, and students observe virtual perspective views through VR glasses. The system records posture, operational rhythm, and virtual dosage, generating a scoring report after each session. Three rounds of simulation before entering the real operating room can reduce the time spent on the first independent operation by 25% and significantly reduce unnecessary postures.

[0120] Example 11: Seated Coronary Intervention for COPD Patients

[0121] Patient background: A 65-year-old male with COPD, whose FEV1 was 35% of predicted value, was unable to tolerate lying flat for more than 5 minutes and experienced severe dyspnea, requiring emergency PCI. This patient was not a candidate for interventional surgery using traditional methods.

[0122] Using the system described in this application for treatment, firstly, the system is configured for seated surgery: the surgical chair 1 is adjusted to a 30° semi-recumbent position to ensure patient breathing comfort; the pressure sensor array 12 monitors the patient's weight distribution in real time and uses a COPD-specific algorithm to identify dyspnea postures; the imaging device module 2 is preset with a COPD-specific seated angle combination (LAO 25° / CRA 15°); the warning threshold of the safety monitoring unit 5 is adjusted to 600mm (100mm more than supine surgery). Secondly, a seated collaborative control strategy is implemented: the main control unit 3 automatically fine-tunes the chair angle according to the patient's respiratory rhythm, slightly tilting forward 2-3° during the expiratory phase to reduce respiratory resistance. When signs of dyspnea are detected (rapid changes in pressure distribution, unstable posture), the surgical chair 1 is immediately adjusted to the optimal breathing position, and C-arm movements are paused.

[0123] In summary, the breakthrough clinical results are as follows: the surgery achieved treatments that were impossible with traditional methods; the patient experienced no respiratory distress throughout the procedure, and blood oxygen saturation remained above 95%; compared with similar supine surgeries, the amount of contrast agent used was reduced by 15%, and the operation time was shortened by 20 minutes; postoperatively, the patient reported that sitting surgery significantly reduced the respiratory burden.

[0124] Example 12: Seated Electrophysiological Ablation Surgery for Heart Failure Patients

[0125] Patient background: A 72-year-old female patient with heart failure and an ejection fraction of 35%, complicated by persistent atrial fibrillation. She experienced significant chest tightness, shortness of breath, and decreased blood pressure when lying flat, making traditional supine surgery extremely risky.

[0126] Using the system described in this application for treatment, firstly, a heart failure-specific sitting posture recognition module identifies the "heart failure sitting posture" pattern—a slight forward lean and hands-on-knees position—tailored to the characteristics of heart failure patients. The system learns and adapts to this posture, providing corresponding support and adjustments. Secondly, fatigue and heart failure monitoring are integrated: the fatigue assessment module incorporates changes in respiratory rate, frequency of postural adjustments, and hemodynamic stability into the assessment indicators, taking into account the characteristics of heart failure patients. When signs of worsening heart failure are detected, the system automatically adjusts to the optimal posture. Finally, the clinical efficacy of sitting-based surgery: the patient's hemodynamics remained stable throughout the surgery, and blood pressure fluctuations were reduced by 60%. In summary, the incidence of arrhythmias is reduced by 45% compared to the traditional forced supine position; the surgical success rate is comparable to that of supine patients, avoiding the risk of acute exacerbations of heart failure.

[0127] Example 13: Peripheral intervention in sitting posture for patients with ankylosing spondylitis

[0128] Patient background: A 45-year-old male patient with ankylosing spondylitis, with severe spinal deformity, unable to lie flat (severe pain when lying flat), requiring lower extremity arterial balloon angioplasty.

[0129] Using this system for treatment, firstly, it features a dedicated adaptation for spinal diseases: the surgical chair 1 is equipped with an adjustable spinal support module, allowing for personalized adjustments based on the patient's spinal curvature. The pressure sensor array 12 employs a special algorithm to adapt to the irregular pressure distribution caused by spinal deformation. Secondly, it incorporates special safety considerations for seated surgery: due to the limited spinal mobility of the patient, the safety monitoring unit 5 adds a neck protection mode, automatically avoiding the patient's head and neck area during C-arm movement to prevent accidental collisions. In summary, it provides significant pain relief: successful lower extremity arterial interventional treatment is achieved, avoiding the forced supine position required by traditional methods; the patient experiences no discomfort throughout the procedure, with a 70% reduction in pain scores during surgery; postoperatively, the patient reports that seated surgery significantly reduces spinal pressure and is willing to undergo subsequent treatment.

[0130] Example 14: Preset sitting posture modes for various surgical types

[0131] The system supports the following dedicated surgical modes for sitting positions: 1. Sitting Cardiovascular Intervention Mode: Seat angle: 20-30° semi-recumbent position, suitable for patients with heart failure and COPD; C-arm preset angle: LAO 25° / RAO 25° (adjusted for sitting anatomy); Safety distance: increased to 600mm; Special monitoring: real-time monitoring of cardiac function and respiratory status. 2. Sitting Neurovascular Intervention Mode: Seat angle: 15-25°, enhanced head support; C-arm preset: special angle adapted for sitting cerebral angiography; Neck protection: enhanced cervical spine safety monitoring; Special functions: dizziness monitoring, real-time blood pressure monitoring. 3. Sitting Peripheral Vascular Intervention Mode: Seat angle: adjustable up to 45°, suitable for lower limb vascular surgery; Limb support: adjustable upper and lower limb support modules; Long-term tolerance: enhanced comfort monitoring.

[0132] Example 15: Safety Algorithm for Seated Surgery

[0133] Seated Stability Assessment Algorithm: Seated Stability Index (SSI) = α·center of gravity shift + β·pressure distribution uniformity + γ·posture change frequency; where α = 0.4, β = 0.3, γ = 0.3 (weights for posture optimization). When SSI exceeds the threshold, the system automatically intervenes in stability: 1. Mild instability (SSI = 0.6-0.8): fine-tuning of seat support; 2. Moderate instability (SSI = 0.8-0.9): voice prompt to adjust posture; 3. Severe instability (SSI > 0.9): pausing equipment movement and medical intervention. Seated Fatigue and Comfort Prediction Model: Targeting the characteristics of seated surgery, the following posture-specific indicators are added: 1. Change in lumbar pressure concentration; 2. Change rate of hip support area; 3. Seated posture maintenance time; 4. Frequency of spontaneous adjustment; 5. Postural changes related to breathing difficulties.

[0134] Through the application of the system in the above-described different embodiments, it can be seen that the system of this application achieves bidirectional information transmission through the TSN real-time network: in forward mode, the seat position is automatically adjusted based on the C-arm trajectory; in reverse mode, the C-arm posture is optimized and the radiation dose is reduced based on the surgeon's body posture. The safety monitoring unit 5 provides real-time collision avoidance, and the machine learning model predicts changes in body position, providing fatigue warnings and postoperative data analysis. Most importantly, the system has made a breakthrough in solving the interventional surgery problem for patients who cannot lie flat, providing a safe and effective treatment plan for approximately 5-10% of special patient groups, filling a gap in medical technology, and having significant life-saving implications. Furthermore, it can effectively improve surgical efficiency, radiation safety, and ergonomics, and is also applicable to cardiovascular, neurological, and orthopedic interventional fields, especially achieving a breakthrough from 0 to 1 in seated interventional surgery.

[0135] The computer-readable storage medium of this invention is applied to an interactive system. The computer-readable storage medium stores a computer program, which, when executed by a processor, implements all the steps of the method. Specifically, a typical data package stored in the computer-readable storage medium contains surgical seat 1 status data, imaging device module 2 status data, and main control unit 3 instruction data. The surgical seat 1 status data includes any one or more of the following: XYZ position, pitch angle, seat tilt, 16×16 pressure matrix, and attitude confidence. The imaging device module 2 status data includes any one or more of the following: rotation angle around the center, trajectory planning point, real-time dose rate, and collision margin. The main control unit 3 instruction data includes any one or more of the following: target pose, constraints, and priority label.

[0136] Through the application of the system in the different embodiments described above, it can be seen that the system of this application achieves bidirectional information transmission through the TSN real-time network: in forward mode, the seat position is automatically adjusted based on the C-arm trajectory; in reverse mode, the C-arm posture is optimized and the radiation dose is reduced based on the surgeon's body posture. The safety monitoring unit 5 provides real-time collision avoidance, and the machine learning model predicts changes in body position, providing fatigue warnings and postoperative data analysis. This effectively improves surgical efficiency, radiation safety, and ergonomics, making it applicable to cardiovascular, neurological, and orthopedic interventional fields.

[0137] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A medical intelligent interactive system, characterized in that, include: Surgical chair (1): includes an electric adjustment mechanism (11) and a pressure sensor array (12), wherein the pressure sensor array (12) is disposed in the force-bearing area of ​​the surgical chair (1) for real-time acquisition of the surgeon's body posture information and load distribution; Imaging equipment module (2): It has a programmable control interface (21) that can receive and execute control commands regarding boom rotation angle, trajectory speed, X-ray projection parameters and collision detector; Main control unit (3): It is connected to the surgical chair (1) and the imaging equipment module (2) respectively, and is used to run the collaborative control algorithm to generate bidirectional adaptive control commands based on the target motion trajectory of the imaging equipment module (2) and the body posture data collected by the pressure sensor array (12); Communication link (4): The structured data frame format is used to transmit status information and control commands between the main control unit (3), the operating chair (1) and the imaging equipment module (2); Safety monitoring unit (5): includes a non-contact distance detection device, used to send the required instructions to the main control unit (3) when the distance between the surgical chair (1) and the imaging equipment module (2) is less than a preset safety threshold.

2. The medical intelligent interactive system according to claim 1, characterized in that, The electric adjustment mechanism (11) has six degrees of freedom, and the pressure sensor array (12) is located in the desired force area of ​​the seat cushion and / or backrest of the surgical chair (1).

3. The medical intelligent interactive system according to claim 1, characterized in that, The imaging equipment module (2) is a large C-arm X-ray imaging device; the communication link (4) is a time-sensitive network-based communication link.

4. The medical intelligent interactive system according to claim 3, characterized in that, The time-sensitive network has a network time synchronization function, with a time synchronization accuracy of no more than 1 microsecond between nodes. It supports deterministic data transmission and priority queue management to ensure the real-time transmission of critical control commands.

5. The medical intelligent interactive system according to claim 1, characterized in that, The electric adjustment mechanism (11) includes a lifting cylinder (111), a pitch motor (112), a rotary motor (113), and a two-dimensional translation slide (114) to achieve precise positioning of the surgical chair (1) in three-dimensional space and adaptive adjustment of pitch and rotation attitude. The lifting stroke of the lifting cylinder (111) is not less than 400 mm, the pitch angle range of the pitch motor (112) is -15° to +30°, and the rotation angle range of the rotary motor (113) is 0°-360° continuously.

6. The medical intelligent interactive system according to claim 1, characterized in that, The programmable control interface (21) of the imaging equipment module (2) supports real-time adjustment of relevant control parameters, including any one or more of the following: C-arm rotation angle control parameters, X-ray tube voltage control parameters, X-ray tube current control parameters, and collision detection sensitivity control parameters.

7. The medical intelligent interactive system according to claim 1, characterized in that, The system also includes a human-computer interaction terminal (31), comprising: Touchscreen (311): Displays intraoperative posture diagram, fatigue index, equipment status and safety warning information; Voice assistant (312): Supports natural language command recognition and can accept relevant voice control commands; Foot switch (313): Provides emergency confirmation and quick response functions, including any one or more of the functions of confirmation prompt, pause operation and resume control.

8. A medical intelligent interaction method, characterized in that, Based on the medical intelligent interactive system according to any one of claims 1-7, the method includes the following steps: Step 1: System Initialization: Identify the surgeon's identity, load personalized configuration parameters, and check device status; Step 2, Real-time data acquisition: Synchronously acquire the target motion trajectory of the imaging device module (2) and the real-time body posture data of the pressure sensor array (12); Step 3, Intelligent Analysis and Processing: The collaborative control algorithm is executed in the main control unit (3) to analyze the trend of body posture changes and predict the operation intention; Step 4, Command Generation and Issuance: Generate synchronous control commands for the surgical chair (1) and the imaging equipment module (2) and transmit them through a time-sensitive network; Step 5, Safety Monitoring and Response: Continuously monitor the data monitored by the safety monitoring unit (5), compare the monitored distance data with the preset multi-level safety thresholds, and perform corresponding deceleration, hovering or emergency stop operations according to the comparison results; Step Six: Adaptive Optimization: Based on feedback data during use, dynamically adjust control parameters to improve the system's adaptability to the scenario.

9. An operating room, characterized in that, The medical intelligent interactive system includes any one of claims 1-7, wherein the interactive system is connected to other medical equipment in the operating room through a unified communication protocol to form an intelligent control network, and the other medical equipment includes at least one or more of surgical lights, air conditioning systems, audio systems and monitoring equipment.

10. A computer-readable storage medium, characterized in that, The system stores computer program code for implementing the medical intelligent interaction method of claim 8, wherein the computer program code includes code from any one or more modules of a collaborative control algorithm module, a safety monitoring module, a human-computer interaction module, and a data communication module.

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