Intelligent surgical shadowless lamp control method and device based on linkage constraint

Abstract

The application relates to the technical field of intelligent control of equipment, and provides a linkage constraint-based intelligent operation shadowless lamp control method and equipment, which comprises the following steps: receiving operation input for a surgical shadowless lamp, analyzing the operation input to obtain a control instruction; the control instruction at least comprises a target control object and a control intention; performing safety constraint verification on the control instruction according to the working mode of the current operation, the equipment state of the surgical shadowless lamp and the multi-source environment sensing state; when the target control object in the control instruction is a pose adjusting mechanism and the control intention is spatial motion, it is determined whether the working mode and the illumination state of the surgical shadowless lamp meet preset pre-movement interlocking rules; if the pre-movement interlocking rules are met, corresponding driving instructions are generated according to the control intention, and the target control object is controlled to perform a target action according to the driving instructions, so that precise shadowless lamp adjustment can be completed without physical contact with the control panel, and the safety and reliability of operation are improved.

Description

Technical Field

[0001] This invention relates to the field of intelligent equipment control technology, and in particular to an intelligent surgical shadowless lamp control method and equipment based on linkage constraints. Background Technology

[0002] Current surgical shadowless lamps typically rely on manual adjustment. Doctors or nurses need to adjust the brightness, color temperature, light spot, and irradiation position by pressing buttons, touching the panel, or directly pushing the lamp body.

[0003] However, currently, medical staff's hands are often in a sterile operating state. Frequent contact with the control panel or manual adjustment of the lamp body can easily disrupt the sterile environment and increase the risk of infection. A single control method is difficult to meet the needs of different scenarios such as voice commands, touch operation, and graphical interface monitoring, and lacks multimodal integration. In addition, current shadowless lamps are difficult to automatically or semi-automatically link with the patient's position, surgical area location, or navigation tool location, resulting in low adjustment efficiency. They also generally lack safety constraint logic in surgical scenarios. For example, there is insufficient linkage restriction on brightness, color temperature, light spot, and robotic arm movement in different working modes, which can easily cause misoperation or equipment conflict. Moreover, when multiple devices are coordinated, there is a lack of a unified state synchronization mechanism between the light status, robotic arm movement status, and various control terminals, resulting in inconsistent control and response delays.

[0004] Therefore, there is an urgent need for an intelligent surgical shadowless lamp control solution based on linkage constraints that can support multimodal input, be deeply linked with visual positioning and robotic arms, and have strict safety constraints and real-time status synchronization capabilities. Summary of the Invention

[0005] This invention provides an intelligent surgical shadowless lamp control method and device based on linkage constraints, which solves the technical problem that surgical shadowless lamps in the current technology usually rely on manual adjustment.

[0006] This invention provides an intelligent surgical shadowless lamp control method based on linkage constraints, comprising the following steps: The system receives operation input for the surgical shadowless lamp and parses the operation input to obtain control instructions; the control instructions include at least the target control object and the control intention. Based on the current surgical procedure and the status of the surgical shadowless lamp, the control commands are subject to safety constraint verification. During the safety constraint verification process, when the target control object in the control command is the posture adjustment mechanism carrying the surgical shadowless lamp, and the control intention is spatial movement, it is determined whether the working mode, the illumination state of the surgical shadowless lamp, and the multi-source environmental perception state meet the preset motion pre-interlock rules; the multi-source environmental perception state includes at least one of the motion path interference warning state of the posture adjustment mechanism, the visual positioning state, and the robotic arm motion state; If the motion pre-interlock rule is satisfied, then a corresponding drive instruction is generated according to the control intention, and the target control object is controlled to perform the target action according to the drive instruction.

[0007] The intelligent surgical shadowless lamp control method based on linkage constraints provided by the present invention further includes, before performing safety constraint verification on the control command: If multiple control instructions are parsed within a preset time window, or if the currently parsed control instruction conflicts with the currently executing driver instruction in terms of resource access, then the target control instruction for security constraint verification is determined based on a preset priority arbitration rule. The control commands include abnormal blocking commands, state adjustment commands, and visual linkage commands. The priority arbitration rule includes that the abnormal blocking commands have a higher priority than the state adjustment commands, and the state adjustment commands have a higher priority than the visual linkage commands. Furthermore, when multiple control commands have the same command type but different command sources, the control commands originating from the voice input channel have a higher priority than the control commands originating from the graphical interface input channel. Accordingly, the step of performing safety constraint verification on the control commands based on the current surgical operating mode and the equipment status of the surgical shadowless lamp includes: Based on the current surgical procedure and the status of the surgical shadowless lamp, the target control command is subjected to safety constraint verification.

[0008] According to the intelligent surgical shadowless lamp control method based on linkage constraints provided by the present invention, after determining the target control command based on a preset priority arbitration rule, the method further includes: If the target control command is the abnormal blocking command, then the safety constraint verification is skipped and a corresponding emergency stop drive command is generated to control the pose adjustment mechanism and the surgical shadowless lamp to enter the safety lock state. If the target control instruction is the state adjustment instruction, and the currently executing drive instruction corresponds to the visual linkage control intent, then the visual following motion task is interrupted, and the safety constraint verification is performed on the state adjustment instruction.

[0009] According to the intelligent surgical shadowless lamp control method based on linkage constraints provided by the present invention, determining whether the working mode, the illumination state of the surgical shadowless lamp, and the multi-source environmental perception state satisfy the preset motion pre-interlock rules includes: The current multi-source environmental perception state is obtained; the multi-source environmental perception state includes the motion path interference warning state of the pose adjustment mechanism, the visual positioning state, and the robotic arm motion state; If the motion path interference warning status indicates a risk of physical collision or personnel intrusion, it is determined that the preset motion pre-interlock rule is not met. If the motion path interference warning status indicates safety, and the working mode is cleaning mode and the surgical shadowless lamp is in the on state, then it is determined that the preset motion pre-interlock rule is not met. If the motion path interference warning status indicates safety, and the robotic arm motion status indicates that the pose adjustment mechanism is currently executing other motion sequences, then it is determined that the preset motion pre-interlock rule is not met. If the motion path interference warning state indicates safety, and the working mode is surgical mode and the visual positioning state is target loss state, then it is determined that the preset motion pre-interlocking rule is not met. If the motion path interference warning status indicates safety, and the working mode is surgical mode and the motion speed of the spatial motion exceeds a preset threshold, then it is determined whether the lighting parameters corresponding to the lighting status of the surgical shadowless lamp are within the preset safety parameter limit range. If the safety parameter limit is not met, the preset motion pre-interlock rule is not satisfied. If it is within the range of the aforementioned safety parameters, then it is determined that the preset motion pre-interlock rule is met; If the motion path interference warning status indicates safety, and the working mode is surgical mode, the visual positioning status is effective tracking status, the robotic arm motion status indicates that the pose adjustment mechanism has not executed other motion sequences, and the motion speed of the spatial motion does not exceed the preset threshold, then it is determined that the preset motion pre-interlocking rule is satisfied.

[0010] According to the intelligent surgical shadowless lamp control method based on linkage constraints provided by the present invention, after determining whether the working mode, the illumination state of the surgical shadowless lamp, and the multi-source environmental perception state satisfy the preset motion pre-interlock rules, the method further includes: If the motion pre-interlock rule is not met, the control command is intercepted and an exception handling strategy is triggered. The exception handling strategy includes: When the motion path interference warning status indicates a risk of physical collision or personnel intrusion, the posture adjustment mechanism is controlled to perform an anti-collision emergency stop action. When there is a safety conflict between the working mode and the lighting state, the lighting parameters of the surgical shadowless lamp are adjusted to a preset safety value; When the visual positioning state is a target loss state, the current motion sequence of the target control object is stopped and an environmental perception loss prompt is output. When the robotic arm's motion state indicates that the pose adjustment mechanism is currently executing other motion sequences, a motion conflict warning is output, and the current control command is added to the queue to be executed. When the working mode is surgical mode and the lighting parameters exceed the safety parameter limit range, the lighting parameters are adjusted to the safety parameter limit range, and the process returns to the step of determining whether the working mode, the lighting state of the surgical shadowless lamp, and the multi-source environmental perception state meet the preset motion pre-interlock rules.

[0011] According to the intelligent surgical shadowless lamp control method based on linkage constraints provided by the present invention, the step of generating corresponding driving instructions according to the control intention and controlling the target control object to perform a target action according to the driving instructions includes: When the control intent is a visual linkage intent, acquire an image of the surgical area; Determine the target object information in the surgical area image; the target object information includes the three-dimensional pose of the visual positioning markers attached to the surgical navigation tool or the three-dimensional coordinates of key human body points; Based on the target object information in the current image frame, update the target illumination area of ​​the surgical shadowless lamp and the target pose of the pose adjustment mechanism; Based on the updated target illumination area and target pose, pose compensation parameters for driving the pose adjustment mechanism are generated through inverse kinematics calculation. Based on the pose compensation parameters, the expected following trajectory of the pose adjustment mechanism is generated, and interference collision detection is performed on the expected following trajectory; if no collision risk is detected, a corresponding driving command is generated based on the expected following trajectory, and the pose adjustment mechanism is controlled to follow the target illumination area according to the driving command.

[0012] According to the intelligent surgical shadowless lamp control method based on linkage constraints provided by the present invention, the step of controlling the pose adjustment mechanism to follow the target irradiation area according to the driving command further includes: Determine the physical position of the posture adjustment mechanism during spatial movement; Determine the change in the relative distance between the physical location and the target irradiation area; The relative distance change is converted into the spot size compensation parameter or focal length compensation parameter of the surgical shadowless lamp; The spot size or focal length of the surgical shadowless lamp is adjusted according to the spot size compensation parameter or the focal length compensation parameter.

[0013] According to the intelligent surgical shadowless lamp control method based on linkage constraints provided by the present invention, the step of generating corresponding driving instructions according to the control intention and controlling the target control object to perform a target action according to the driving instructions includes: When the control intent is the control intent of the pose adjustment mechanism, a drive instruction containing a displacement vector is generated according to the displacement parameters carried in the control instruction, or a drive instruction containing a mode code is generated according to the mode parameters carried in the control instruction. The drive command is sent to the driver of the pose adjustment mechanism to control the pose adjustment mechanism to move to the target spatial position, or to execute the mechanical operation action corresponding to the pattern code; or... When the target controlled object is the lighting adjustment module of the surgical shadowless lamp, and the control intention is to adjust the lighting parameters, the control parameters carried in the control command are converted by communication protocol to generate a corresponding drive command, and the drive command is sent to the controller corresponding to the lighting adjustment module to control the lighting adjustment module to adjust the corresponding lighting state.

[0014] According to the intelligent surgical shadowless lamp control method based on linkage constraints provided by the present invention, the step of receiving operation input for the surgical shadowless lamp and parsing the operation input to obtain control instructions includes: When the input is a voice signal, the voice signal is converted into a text sequence; Lexical decomposition is performed on the text sequence to extract intent feature words, device feature words, and control parameter feature words from the text sequence; Determine the control intent matched by the intent feature words, the target control object matched by the device feature words, and the control parameters matched by the control parameter feature words; The control intent, the target control object, and the control parameters are combined into a control command.

[0015] According to the intelligent surgical shadowless lamp control method based on linkage constraints provided by the present invention, after generating corresponding drive instructions according to the control intention and controlling the target controlled object to perform the target action according to the drive instructions, the method further includes: Collect the light state event of the surgical shadowless lamp after it performs the target action and the robotic arm action event of the pose adjustment mechanism after it performs the target action; The light status event and the robotic arm action event are encapsulated into an event message; Based on the message queue publish-subscribe mechanism, the event message is broadcast to multiple control terminals to trigger the multiple control terminals to perform state synchronization updates.

[0016] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and running on the processor, wherein when the processor executes the program, it implements the intelligent surgical shadowless lamp control method based on linkage constraints as described above.

[0017] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the intelligent surgical shadowless lamp control method based on linkage constraints as described above.

[0018] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the intelligent surgical shadowless lamp control method based on linkage constraints as described above.

[0019] The intelligent surgical shadowless lamp control method and device based on linkage constraints provided by this invention parses the operation input into standardized control instructions containing the target control object and control intention, and performs safety constraint verification based on working mode and equipment status before execution. In addition, motion pre-interlock rules are set for the spatial motion instructions of the posture adjustment mechanism, realizing the safety interlock constraint between lighting control and robotic arm movement in the surgical scene. Such multimodal operation input allows personnel to complete precise shadowless lamp adjustment without physical contact with the control panel, effectively protecting the sterile surgical environment. In addition, the safety constraint verification mechanism prevents equipment conflicts or safety accidents caused by misoperation, improving the safety and reliability of the intelligent surgical shadowless lamp control system based on linkage constraints. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the present invention or the conventional ones, the drawings used in the embodiments or conventional descriptions will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the structure of the intelligent surgical shadowless lamp control system based on linkage constraints provided in an embodiment of the present invention.

[0022] Figure 2 This is one of the flowcharts of the intelligent surgical shadowless lamp control method based on linkage constraints provided in the embodiments of the present invention.

[0023] Figure 3 This is the second flowchart of the intelligent surgical shadowless lamp control method based on linkage constraints provided in this embodiment of the invention.

[0024] Figure 4 This is a schematic diagram of the visual positioning and robotic arm linkage provided in an embodiment of the present invention.

[0025] Figure 5 This is a schematic diagram of the structure of the electronic device provided in an embodiment of the present invention. Detailed Implementation

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

[0027] It should be noted that in the description of this invention, the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element. The terms "upper," "lower," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the system or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0028] The terms "first," "second," etc., used in this invention are used to distinguish similar objects, not to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class, without limiting the number of objects; for example, a first object can be one or more. Furthermore, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0029] The intelligent surgical shadowless lamp control method based on linkage constraints provided in this embodiment of the invention is executed by an intelligent surgical shadowless lamp control system based on linkage constraints. This control system is communicatively connected with the surgical shadowless lamp device, the posture adjustment mechanism (e.g., a multi-degree-of-freedom robotic arm) carrying the surgical shadowless lamp, the camera, the microphone array, and the graphical interface terminal, and together constitutes the overall architecture of the intelligent surgical shadowless lamp control based on linkage constraints.

[0030] Figure 1 This is a schematic diagram of the intelligent surgical shadowless lamp control system based on linkage constraints provided in an embodiment of the present invention. See also... Figure 1 As shown, the intelligent surgical shadowless lamp control system based on linkage constraints in this embodiment of the invention is divided into three layers in terms of architecture: input layer, core processing layer, and execution and feedback layer.

[0031] The input layer includes a voice acquisition module and a visual positioning module, responsible for acquiring voice signals and obtaining surgical area images and spatial coordinate information, respectively. The core processing layer includes a command parsing module, a linkage control module, and a safety constraint module. Here, the safety constraint module acts as a central verification unit, performing legality verification, conflict resolution, and action restriction on commands based on the current surgical mode, equipment status, and controlled object. The execution and feedback layer includes a lighting control module, a robotic arm control module, the shadowless lamp equipment and the robotic arm equipment, as well as a status synchronization module responsible for broadcasting equipment feedback status to each control terminal. The graphical interface serves as an independent input and display terminal, submitting operation inputs to the core processing layer via touch commands and receiving broadcast updates from the status synchronization module.

[0032] Figure 2 This is one of the flowcharts illustrating the intelligent surgical shadowless lamp control method based on linkage constraints provided in this embodiment of the invention, such as... Figure 2 As shown, the method includes the following steps 110, 120, 130 and 140.

[0033] Step 110: Receive operation input for the surgical shadowless lamp, and parse the operation input to obtain control instructions; the control instructions include at least the target control object and the control intention.

[0034] In this embodiment, the control system monitors operation inputs from multiple input channels in parallel, and the source of these operation inputs is not limited. For example, the operation input can be a voice signal issued by the user; it can also be a processing command submitted by the user through a graphical interface or touch panel; or it can be a linkage trigger signal triggered by visual linkage logic. These multiple operation inputs can coexist in parallel. The control system preprocesses the operation inputs from each channel separately and then inputs them into the naming and parsing module for unified parsing.

[0035] Specifically, the control command is a standardized data structure output after being processed by the command parsing module, and it includes at least the target controlled object and the control intent. In addition, the control command may also include control parameters, such as brightness increment values, displacement distances, or identifiers of target human body parts, without limitation.

[0036] In some implementations, the standardized data structure for control commands also includes a command type field and a command source field. The command type field identifies whether the control command is an abnormal blocking command, a status adjustment command, or a visual linkage command; the command source field records whether the control command originates from the voice input channel or the graphical interface input channel, to support subsequent priority arbitration.

[0037] The target control object is used to identify the device or functional module to which the current control command is applied. In some embodiments, the target control object can be the posture adjustment mechanism that carries the surgical shadowless lamp, such as a multi-degree-of-freedom robotic arm; in other embodiments, the target control object can be the lighting adjustment module of the surgical shadowless lamp itself, such as a low-level driving module for controlling brightness, color temperature, or spot size; the target control object can also be a surgical mode management module, such as one used to trigger the switching of specific working modes such as cleaning mode or reset mode.

[0038] The control intent is used to identify the type of operation that the current control command expects to perform. In some embodiments, the control intent can be an intention to adjust lighting parameters such as switching, brightness or color temperature adjustment, or spot adjustment; in other embodiments, the control intent can be the spatial movement intent of the posture adjustment mechanism, such as relative displacement movement, absolute positioning movement, or mechanical operation corresponding to a preset mode; the control intent can also be a visual linkage intent, that is, triggering the visual positioning module to obtain the target coordinates and linking it to drive the posture adjustment mechanism to automatically align the surgical shadowless lamp with the target irradiation area.

[0039] Step 120: Perform safety constraint verification on the control command based on the current surgical working mode and the equipment status of the surgical shadowless lamp.

[0040] Before routing control commands to specific execution modules, the safety constraint module is invoked to perform safety constraint verification on the control commands.

[0041] Specifically, the operating mode refers to the current surgical scenario status of the control system, including but not limited to surgical mode, cleaning mode, standby mode, and reset mode. Different operating modes correspond to different safety rules. The safety constraint module loads the corresponding rule set based on the current operating mode and performs safety constraint verification on the control commands accordingly.

[0042] Equipment status refers to the current operating status of the surgical shadowless lamp and posture adjustment mechanism, including but not limited to the lighting status, brightness value, color temperature value, and spot pattern of the surgical shadowless lamp, as well as the joint angle and movement status of the posture adjustment mechanism.

[0043] In this embodiment, the control command is first routed according to the type of the target controlled object to determine whether the current control command belongs to the lighting control path, the posture adjustment mechanism control path, or the vision linkage control path. Then, according to the rule set corresponding to the current working mode, it is checked whether the execution of the control command is feasible in the current device state.

[0044] In some implementations, the safety constraint module can use a state machine to manage the working mode switching logic. The working mode nodes included in the state machine at least include: standby mode, surgical mode, cleaning mode, and reset mode. An example of the state machine switching logic is as follows: Switching from standby mode to surgical mode: This is triggered when the operator issues a voice command to start the surgery or confirms the start of the surgery through the graphical interface; Surgical mode switching to cleaning mode: triggered by the operator issuing a voice command to enter cleaning or by confirming the end of surgery. After triggering, the safety constraint module automatically loads the cleaning mode rule set and sends a light-off command to the lighting control module. Switching from cleaning mode to standby mode: This is triggered when the operator confirms that cleaning is complete after the cleaning process is finished. Switching from any mode to reset mode: triggered by an abnormal blocking command or manually triggered by the operator, the posture adjustment mechanism returns to the preset initial position; Reset mode to standby mode: Automatically switches after the reset action is completed.

[0045] In practical applications, the safety constraint module can encapsulate the switching event as a status event each time the working mode is switched, and broadcast it to multiple control terminals through the status synchronization module to ensure that the working mode displayed by each terminal is consistent with the actual system state.

[0046] Step 130: During the safety constraint verification process, when the target control object in the control command is the posture adjustment mechanism carrying the surgical shadowless lamp, and the control intention is spatial movement, determine whether the working mode, the illumination state of the surgical shadowless lamp, and the multi-source environmental perception state meet the preset motion pre-interlock rules; the multi-source environmental perception state includes at least one of the motion path interference warning state of the posture adjustment mechanism, the visual positioning state, and the robotic arm motion state.

[0047] Here, multi-source environmental perception status refers to environmental and equipment operating status information related to the spatial motion safety of the posture adjustment mechanism, collected in real time from multiple sensing sources, including but not limited to: Motion path interference warning status: The warning results output in real time by the environmental perception subsystem, such as depth sensor, lidar or camera obstacle detection module, are used to indicate whether there is a risk of physical collision or personnel intrusion on the expected motion path of the pose adjustment mechanism. Visual positioning status: The target tracking status output in real time by the visual positioning module, including effective tracking status and target loss status; Robotic arm motion status: The motion execution status reported in real time by the pose adjustment mechanism driver, which indicates whether the pose adjustment mechanism is currently executing other motion sequences.

[0048] Motion pre-lock rules refer to the set of precondition constraints that must be met before the drive posture adjustment mechanism can perform spatial motion. These motion pre-lock rules are pre-configured in the safety constraint module, forming a mapping table for different operating modes and lighting state combinations.

[0049] In some embodiments, during the safety constraint verification process, surrounding obstacles on the motion path of the pose adjustment mechanism are also checked to confirm whether there is a risk of physical collision on the motion path. The collision detection result is also used as a component of the motion pre-interlocking rules for judgment.

[0050] Step 140: If the motion pre-interlock rule is satisfied, then generate a corresponding drive instruction according to the control intention, and control the target control object to perform the target action according to the drive instruction.

[0051] Here, the drive command is a low-level control data packet generated by the control system and sent to the specific execution device. Its format and content match the hardware interface protocol of the target controlled object. In some embodiments, the drive command can be a command data frame in serial communication protocol format, sent to the surgical shadowless lamp controller; in other embodiments, the drive command can be a motion control command containing displacement vectors or joint angle groups, sent to the driver of the pose adjustment mechanism through a network or bus interface.

[0052] In this embodiment, the control system sends drive commands to the corresponding driver or controller of the target controlled object, driving the target controlled object to execute the target action. Here, the target action refers to the physical action or parameter adjustment operation actually performed by the target controlled object according to the drive command. For example, a pose adjustment mechanism performs spatial translation or rotation according to the displacement vector in the drive command, or a surgical shadowless lamp adjusts the illumination brightness, color temperature, or spot size according to the drive command.

[0053] The intelligent surgical shadowless lamp control method based on linkage constraints provided in this invention parses the operation input into standardized control instructions containing the target control object and control intention, and performs safety constraint verification based on working mode and equipment status before execution. Furthermore, it sets motion pre-interlock rules for the spatial motion instructions of the posture adjustment mechanism, realizing safety interlock constraints between lighting control and robotic arm movement in the surgical scenario. This multimodal operation input allows personnel to complete precise shadowless lamp adjustment without physical contact with the control panel, effectively protecting the sterile surgical environment. In addition, the safety constraint verification mechanism prevents equipment conflicts or safety accidents caused by misoperation, improving the safety and reliability of the intelligent surgical shadowless lamp control system based on linkage constraints.

[0054] In some embodiments, before performing security constraint verification on the control command, the method further includes: If multiple control instructions are parsed within a preset time window, or if the currently parsed control instruction conflicts with the currently executing driver instruction in terms of resource access, the target control instruction for security constraint verification will be determined based on the preset priority arbitration rules.

[0055] In this embodiment, the preset time window is an arbitration decision time interval set for scenarios with multiple concurrent instructions. In some implementations, the preset time window can be set to 3 to 5 seconds, and the specific value can be configured according to the operation response latency requirements in the surgical scenario, without limitation.

[0056] Resource access conflict refers to a situation where the currently parsed control command and the drive command currently being executed by the system compete for resources such as the target control object, motion trajectory planning resources, or lighting parameter writing resources, preventing them from being executed simultaneously.

[0057] In this embodiment, the priority arbitration rule is to first sort the priority according to the instruction type. The control instructions are divided into abnormal blocking instructions, state adjustment instructions and visual linkage instructions according to the instruction type. Among them, the abnormal blocking instructions have the highest priority, the state adjustment instructions have the second highest priority, and the visual linkage instructions have the lowest priority.

[0058] Here, abnormal blocking commands refer to control commands that carry the intent of emergency operation such as emergency stop, emergency light shutdown, and safety lock. Their sources include, but are not limited to: emergency voice commands such as emergency stop and stop issued by the operator, or emergency operation commands triggered by the emergency stop touch button on the graphical interface.

[0059] Status adjustment commands refer to control commands that carry conventional adjustment intentions such as brightness adjustment, color temperature adjustment, spot adjustment, displacement control, and mode switching. Their sources include, but are not limited to, voice input channels or graphical interface input channels.

[0060] Visual linkage commands refer to control commands that carry visual linkage intentions. They can originate from visual linkage voice commands issued by operators or from automatic follow-up update signals periodically triggered by the visual positioning module.

[0061] Furthermore, when multiple control commands are of the same type but originate from different sources, control commands originating from the voice input channel have higher priority than those originating from the graphical interface input channel. It should be understood that in surgical scenarios, voice commands are typically issued by the surgeon, representing more direct surgical needs, and should be responded to first; while commands from the graphical interface input channel usually originate from assistants or external systems, and their priority is relatively lower.

[0062] In this embodiment, according to the above arbitration rules, the control instruction with the highest priority is determined from multiple concurrent or conflicting control instructions as the target control instruction, and the target control instruction is passed to the security constraint module to perform subsequent security constraint verification.

[0063] Accordingly, the target control command is subjected to safety constraint verification based on the current surgical operation mode and the status of the surgical shadowless lamp.

[0064] The intelligent surgical shadowless lamp control method provided in this invention introduces priority arbitration before safety constraint verification, enabling the control system to reasonably determine the execution order of instructions according to the characteristics of the surgical scenario in scenarios with multiple concurrent instructions or resource conflicts. This ensures that high-priority emergency operation instructions can be responded to in a timely manner, while avoiding equipment status chaos caused by multiple instruction competition, thereby improving the control reliability of the system in complex surgical operation scenarios.

[0065] In some embodiments, after determining the target control command based on a preset priority arbitration rule, the method further includes: If the target control command is an abnormal blocking command, the safety constraint verification is skipped and a corresponding emergency stop drive command is generated to control the pose adjustment mechanism and the surgical shadowless lamp to enter the safety lock state. If the target control command is a state adjustment command, and the currently executing drive command corresponds to the visual linkage control intent, then the visual following motion task is interrupted, and a safety constraint check is performed on the state adjustment command.

[0066] In this embodiment, since the abnormal blocking command carries the intention of emergency safety operation, it can be exempted from the safety constraint verification process to ensure that emergency actions such as emergency stop can be executed with the shortest delay.

[0067] Specifically, upon receiving an abnormal blocking command, an emergency stop drive command is directly generated and simultaneously sent to the driver of the posture adjustment mechanism and the surgical shadowless lamp controller. Upon receiving the emergency stop drive command, the posture adjustment mechanism immediately stops the current motion sequence and locks each joint in its current position. Upon receiving the emergency stop drive command, the surgical shadowless lamp controller adjusts the lighting parameters to a preset safety lock value, such as reducing the brightness to zero or switching to standby brightness, so that the entire system enters a safety lock state.

[0068] When the control system is currently in visual linkage automatic follow mode, if it receives a status adjustment command from the operator, such as a voice command to brighten the light or move the light to the left, it will prioritize responding to the manual status adjustment command.

[0069] Specifically, a visual tracking interrupt signal is sent to the linkage control module to pause the current visual tracking motion task and switch the motion state of the pose adjustment mechanism to a waiting state. Subsequently, the safety constraint verification of the state adjustment command is performed normally, and the corresponding driving action is executed after the verification is passed.

[0070] In some implementations, the visual linkage and following task can be automatically resumed after the state adjustment command is executed. In practical applications, whether to resume automatically or the resumption time can be determined according to the system configuration or subsequent instructions from the operator, and there is no limitation on this.

[0071] The embodiments of the present invention improve the security and operational flexibility in multi-task concurrent scenarios by designing different pre-processing logics for abnormal blocking instructions and state adjustment instructions.

[0072] In some embodiments, determining whether the working mode, the illumination state of the surgical shadowless lamp, and the multi-source environmental perception state satisfy a preset motion pre-interlock rule includes: The current multi-source environmental perception state is obtained; the multi-source environmental perception state includes the motion path interference warning state of the pose adjustment mechanism, the visual positioning state, and the robotic arm motion state; If the motion path interference warning status indicates a risk of physical collision or personnel intrusion, it is determined that the preset motion pre-interlock rule is not met. If the motion path interference warning status indicates safety, and the working mode is cleaning mode and the surgical shadowless lamp is in the on state, then it is determined that the preset motion pre-interlock rule is not met. If the motion path interference warning status indicates safety, and the robotic arm motion status indicates that the pose adjustment mechanism is currently executing other motion sequences, then it is determined that the preset motion pre-interlock rule is not met. If the motion path interference warning state indicates safety, and the working mode is surgical mode and the visual positioning state is target loss state, then it is determined that the preset motion pre-interlocking rule is not met. If the motion path interference warning status indicates safety, and the working mode is surgical mode and the motion speed of the spatial motion exceeds a preset threshold, then it is determined whether the lighting parameters corresponding to the lighting status of the surgical shadowless lamp are within the preset safety parameter limit range. If the safety parameter limit is not met, the preset motion pre-interlock rule is not satisfied. If it is within the range of the aforementioned safety parameters, then it is determined that the preset motion pre-interlock rule is met; If the motion path interference warning status indicates safety, and the working mode is surgical mode, the visual positioning status is effective tracking status, the robotic arm motion status indicates that the pose adjustment mechanism has not executed other motion sequences, and the motion speed of the spatial motion does not exceed the preset threshold, then it is determined that the preset motion pre-interlocking rule is satisfied.

[0073] First, the current multi-source environmental perception status is obtained, which includes the motion path interference warning status of the pose adjustment mechanism, the visual positioning status, and the motion status of the robotic arm.

[0074] The detection of motion path interference warning status is performed by the environmental perception subsystem. Specifically, when the spatial motion intention of the posture adjustment mechanism is received, the environmental perception subsystem is invoked to scan the distribution of obstacles on the expected motion path of the posture adjustment mechanism in real time and output the interference warning result. If the interference warning result indicates that there are physical obstacles on the expected motion path, such as surgical instruments, equipment racks, or personnel intruding into the motion range of the posture adjustment mechanism, it is directly determined that the motion pre-interlock rule is not met, and there is no need to continue to perform subsequent lighting status and working mode verification.

[0075] If the motion path interference warning status indicates safety, and the working mode is cleaning mode and the surgical shadowless lamp is in the on state, then it is determined that the preset motion pre-interlock rule is not met.

[0076] In this embodiment, the lights are prohibited from being turned on in cleaning mode. Therefore, when the working mode is cleaning mode and the surgical shadowless lamp is in the on state, it is determined that the preset motion pre-interlock rule is not met.

[0077] If the motion path interference warning status indicates safety, and the robotic arm motion status indication pose adjustment mechanism is currently executing other motion sequences, then it is determined that the preset motion pre-interlock rule is not met.

[0078] In this embodiment, the pose adjustment mechanism is only allowed to execute a single motion sequence at any given time to avoid the superposition of multiple motion commands, which could lead to chaotic robotic arm motion trajectories or exceed safety boundaries. Therefore, when the robotic arm motion status indicates that the pose adjustment mechanism is currently executing a motion sequence, such as visual linkage following motion or reset motion, it is determined that the motion pre-interlock rule is not met, preventing the direct execution of new spatial motion commands.

[0079] If the motion path interference warning status indicates safety, and the working mode is surgical mode and the visual positioning status is target loss status, then it is determined that the preset motion pre-interlocking rule is not met.

[0080] In this embodiment, if the control intent in surgical mode is a visual linkage intent, the visual positioning module must be in an effective tracking state to ensure that the linkage motion has accurate target coordinate input. If the visual positioning state is a target loss state, it indicates that the visual positioning module cannot currently obtain valid target spatial coordinates. If the pose adjustment mechanism continues to be driven to perform spatial motion at this time, it will cause the shadowless lamp to deviate from the surgical area. Therefore, it is determined that the motion pre-interlock rule is not met.

[0081] If the motion path interference warning status indicates safety and the current working mode is surgical mode, and the spatial motion speed of the posture adjustment mechanism exceeds the preset threshold, then it is further determined whether the brightness value or spot pattern corresponding to the illumination state of the surgical shadowless lamp is within the preset safety parameter limit range.

[0082] Here, the preset threshold refers to the safety upper limit reference value set for the spatial movement speed of the posture adjustment mechanism in surgical mode. This preset threshold is pre-configured in the safety constraint module.

[0083] When the movement speed of the posture adjustment mechanism exceeds the preset threshold, the lamp body will move in space at a relatively fast speed. If the brightness of the surgical shadowless lamp is too high or the spot mode is in a large-area full illumination state, the fast-moving strong light may cause shock interference to the vision of the personnel.

[0084] Similarly, the safety parameter limit range refers to the safe parameter range allowed for the brightness value and spot pattern of the surgical shadowless lamp in high-speed motion scenarios.

[0085] Therefore, if the brightness value or spot pattern corresponding to the illumination state of the surgical shadowless lamp is not within the safety parameter limit range, it is determined that the preset motion pre-interlock rule is not met; if it is within the safety parameter limit range, it is determined that the preset motion pre-interlock rule is met.

[0086] If the motion path interference warning status indicates safety, and the working mode is surgical mode, the visual positioning status is effective tracking status, the robotic arm motion status indicates that the pose adjustment mechanism has not executed other motion sequences, and the motion speed of the spatial motion does not exceed the preset threshold, then it is determined that the preset motion pre-interlocking rule is met.

[0087] In this embodiment, if the multi-source environmental perception states all meet the safety conditions, it indicates that the current surgical scenario has the prerequisites for safely driving the pose adjustment mechanism to perform spatial motion, and the subsequent drive command generation and issuance process can continue.

[0088] The intelligent surgical shadowless lamp control method based on linkage constraints provided in this invention achieves refined control over the motion safety of the posture adjustment mechanism under different surgical scenarios by setting different motion pre-interlock judgment rules for cleaning mode and surgical mode.

[0089] In some embodiments, after determining whether the working mode, the illumination state of the surgical shadowless lamp, and the multi-source environmental perception state satisfy a preset motion pre-interlock rule, the method further includes: If the motion pre-interlock rule is not met, the control command is intercepted and an exception handling strategy is triggered. The exception handling strategy includes: When the motion path interference warning status indicates a risk of physical collision or personnel intrusion, the posture adjustment mechanism is controlled to perform an anti-collision emergency stop action. When there is a safety conflict between the working mode and the lighting state, the lighting parameters of the surgical shadowless lamp are adjusted to a preset safety value; When the visual positioning state is a target loss state, the current motion sequence of the target control object is stopped and an environmental perception loss prompt is output. When the robotic arm's motion state indicates that the pose adjustment mechanism is currently executing other motion sequences, a motion conflict warning is output, and the current control command is added to the queue to be executed. When the working mode is surgical mode and the lighting parameters exceed the safety parameter limit range, the lighting parameters are adjusted to the safety parameter limit range, and the process returns to the step of determining whether the working mode, the lighting state of the surgical shadowless lamp, and the multi-source environmental perception state meet the preset motion pre-interlock rules.

[0090] See Figure 3 As shown, the exception handling strategy refers to the processing strategy executed by the control system when it detects abnormal situations such as command conflicts, violations of safety constraints, or equipment failures. In this embodiment, the exception handling strategy includes, but is not limited to, one or more of the following.

[0091] When the motion path interference warning status indicates a risk of physical collision or personnel intrusion, the control posture adjustment mechanism executes an anti-collision emergency stop action.

[0092] Specifically, an anti-collision emergency stop command is issued to the posture adjustment mechanism, causing the posture adjustment mechanism to immediately stop its current movement and lock in its current position; at the same time, an anti-collision warning prompt is output to the operating room through the voice broadcast module, such as an obstacle being detected and the robotic arm having stopped suddenly, and the corresponding collision warning information is displayed through the graphical interface terminal.

[0093] When there is a safety conflict between the working mode and the lighting status, such as when the lighting status is on in cleaning mode, adjust the lighting parameters of the surgical shadowless lamp to the preset safety value.

[0094] Specifically, the system sends an instruction to the surgical shadowless lamp controller to adjust lighting parameters such as brightness to preset safe values, such as setting the brightness to zero or switching to the lowest safe brightness. After adjustment, a safety conflict warning is output to inform the operator that the current working mode does not match the lighting status and that the system has been automatically corrected.

[0095] When the visual positioning status is that the target is lost, the current motion sequence of the target control object is stopped and an environmental perception loss prompt is output.

[0096] Specifically, a motion sequence abort command is issued to the pose adjustment mechanism, causing the pose adjustment mechanism to stop the current visual linkage following motion and maintain the current position; at the same time, the voice broadcast module outputs a target loss voice prompt, such as "visual positioning target lost, please check the surgical area marker," and displays an environmental perception loss warning message through the graphical interface terminal, prompting the operator to check whether the surgical area visual positioning marker, such as the AprilTag marker, is still within the effective field of view of the camera.

[0097] When the robotic arm's motion status indicator pose adjustment mechanism is currently executing other motion sequences, a motion conflict warning is output, and the current control command is added to the queue to be executed.

[0098] Specifically, the voice broadcast module outputs motion conflict prompts, such as the robotic arm is currently performing a motion and the instruction has entered the waiting queue. The intercepted control instructions are added to the control instruction waiting queue in order of priority.

[0099] In some implementations, once the current motion sequence of the pose adjustment mechanism has been completed, the next control instruction is retrieved from the queue to be executed, and the safety constraint verification process is retried to ensure that the instructions in the queue are executed correctly.

[0100] When the working mode is surgical mode and the lighting parameters exceed the safety parameter limit range, the lighting parameters are adjusted to the safety parameter limit range, and the process returns to the step of determining whether the working mode, the lighting status of the surgical shadowless lamp, and the multi-source environmental perception status meet the preset motion pre-interlock rules.

[0101] Specifically, an illumination parameter adjustment command is sent to the surgical shadowless lamp controller to adjust the current brightness value or spot mode to within the safe parameter limit range. For example, the brightness value is reduced from the current value to within 60% of the rated maximum brightness, and the spot mode is switched to the focusing mode. After the illumination parameter adjustment is completed, the latest illumination status of the surgical shadowless lamp is obtained again, and the motion pre-interlock rule judgment step is returned for re-verification.

[0102] The intelligent surgical shadowless lamp control method based on linkage constraints provided in this invention achieves timely transmission of abnormal information to the operator through multiple feedback methods and restores the equipment to a safe state by triggering differentiated abnormal handling strategies when the motion pre-interlock rules are not met.

[0103] In some embodiments, generating corresponding drive instructions based on the control intent and controlling the target controlled object to perform a target action based on the drive instructions includes: When the control intent is a visual linkage intent, acquire an image of the surgical area; Determine the target object information in the surgical area image; the target object information includes the three-dimensional pose of the visual positioning markers attached to the surgical navigation tool or the three-dimensional coordinates of key human body points; Based on the target object information in the current image frame, update the target illumination area of ​​the surgical shadowless lamp and the target pose of the pose adjustment mechanism; Based on the updated target illumination area and target pose, pose compensation parameters for driving the pose adjustment mechanism are generated through inverse kinematics calculation. Based on the pose compensation parameters, the expected following trajectory of the pose adjustment mechanism is generated, and interference collision detection is performed on the expected following trajectory. If no collision risk is detected, a corresponding driving command is generated based on the expected following trajectory, and the pose adjustment mechanism is controlled to follow the target illumination area according to the driving command.

[0104] See Figure 4 As shown, after receiving a visual linkage command, the control system triggers the visual positioning module to capture a real-time image of the current surgical area via a camera, thus obtaining an image of the surgical area. The control system then performs target detection processing on the surgical area image to determine the target object information. Here, the target object information includes one or a combination of the following two types.

[0105] The first type of target object information is the three-dimensional pose of a visual positioning marker attached to the surgical navigation tool. This visual positioning marker can be an AprilTag, which is attached to surgical instruments, navigation probes, or other surgical navigation tools. The control system identifies the AprilTag markers in the surgical area image through the visual positioning module, calculates the six-degree-of-freedom pose transformation matrix T_tag of the marker in the spatial coordinate system, and thus obtains the precise spatial position and attitude information of the navigation tool in the surgical area.

[0106] The second type of target object information is the three-dimensional coordinates of key human body points. The control system detects key human body points in the surgical area image through a visual positioning module and extracts the three-dimensional coordinates P_hand of a preset human body part in a spatial coordinate system. The method for detecting key human body points is not limited; a deep learning-based human pose estimation model can be used, combined with a depth camera or binocular vision system to obtain the three-dimensional coordinates.

[0107] In this embodiment, the visual positioning module continuously acquires images of the surgical area in consecutive frames and updates the target object information in real time after each image frame is processed. Specifically, based on the latest target object information in the current image frame, it is compared with the target object information in the previous image frame to calculate the position offset of the target illumination center point in three-dimensional space. When the position offset exceeds a preset follow-trigger threshold, the pose compensation parameter calculation process is triggered; when the position offset does not exceed the follow-trigger threshold, the visual positioning module continues to acquire the next image frame without driving the pose adjustment mechanism to perform motion, thus avoiding unnecessary mechanical movement caused by slight target jitter.

[0108] After determining the target object information, the target illumination area of ​​the surgical shadowless lamp and the target pose of the pose adjustment mechanism are determined based on this information. The target illumination area refers to the surgical area that the surgical shadowless lamp's illumination spot should cover, and its center point is determined by the spatial coordinates in the target object information. The target pose refers to the spatial position and attitude parameters that the pose adjustment mechanism needs to reach in order for the surgical shadowless lamp to accurately illuminate the target illumination area.

[0109] In some implementations, the translation component in the three-dimensional pose transformation matrix T_tag marked with AprilTag can be used as the spatial coordinates of the target illumination center point; in other implementations, the three-dimensional coordinates P_hand of the human body key points can be directly used as the spatial coordinates of the target illumination center point.

[0110] In some implementations, to reduce target coordinate jitter caused by visual detection noise, the target spatial coordinates detected in multiple consecutive frames can be subjected to sliding window averaging filtering to smooth the target trajectory and output more stable target illumination center point coordinates. The filtered coordinates are then used as input for target pose calculation. There are no restrictions on this.

[0111] Based on this, the rotational parameters of each joint in the pose adjustment mechanism are determined through inverse kinematics calculation, according to the target illumination area and target pose. It should be understood that inverse kinematics calculation refers to the process of calculating the angle or displacement parameters of each joint backwards from the known target pose at the end of the pose adjustment mechanism.

[0112] In this embodiment, the rotation parameter set corresponding to each joint of the pose adjustment mechanism is output through inverse kinematics calculation, including the target angle value of each rotation joint. This parameter set is used as the input for subsequent planning of motion trajectory.

[0113] Specifically, based on the rotation parameters of each joint, the expected motion trajectory of the pose adjustment mechanism from the current pose to the target pose is generated, and interference and collision detection is performed on the expected motion trajectory.

[0114] Here, the expected motion trajectory refers to the planned motion path of each joint of the pose adjustment mechanism, smoothly transitioning from its current state to the target joint angle. Interference and collision detection refers to the control system's predictive check of spatial interference between the links and joints of the pose adjustment mechanism and obstacles in the operating room environment along the expected motion trajectory. If the interference and collision detection detects a collision risk, the movement is stopped and an alarm is triggered; if no collision risk is detected, a drive command containing the rotation parameter sequence of each joint is generated based on the expected motion trajectory, and this drive command is sent to the driver of the pose adjustment mechanism via the motion control bus, driving the pose adjustment mechanism to move to the target pose along the planned smooth motion trajectory.

[0115] After completing the current tracking motion, the visual linkage task is not terminated. Instead, the visual positioning module is triggered to acquire the next image frame, repeatedly executing the visual closed-loop control cycle of image acquisition, target detection, target coordinate update, position offset calculation, pose compensation parameter solution, tracking trajectory planning, collision detection, and drive command issuance. This achieves real-time continuous tracking of the target illumination center point by the surgical shadowless lamp illumination area. This visual closed-loop control cycle continues to execute until a stop visual linkage command is received from the operator or the priority arbitration module interrupts the visual tracking motion task.

[0116] The intelligent surgical shadowless lamp control method based on linkage constraints provided in this invention introduces visual positioning technology. The control system can identify the three-dimensional pose of visual positioning marks or the three-dimensional coordinates of key human body points in the surgical area image. After inverse kinematics calculation and interference collision detection, it generates precise driving commands for the pose adjustment mechanism, realizing automatic locking and following of the surgical shadowless lamp irradiation area with the patient's key parts or surgical navigation tools.

[0117] In some embodiments, controlling the pose adjustment mechanism to follow the target illumination area according to the driving command includes: Determine the physical position of the posture adjustment mechanism during spatial movement; Determine the change in the relative distance between the physical location and the target irradiation area; The relative distance change is converted into the spot size compensation parameter or focal length compensation parameter of the surgical shadowless lamp; The spot size or focal length of the surgical shadowless lamp is adjusted according to the spot size compensation parameter or the focal length compensation parameter.

[0118] See also Figure 4 As shown, during the movement of the robotic arm driven by the posture adjustment mechanism, the control system calculates the relative distance change between the physical position coordinates of the end effector and the spatial coordinates of the center point of the target irradiation area in real time. Here, the relative distance change reflects the dynamic change of the spatial distance between the surgical shadowless lamp and the surgical target, and this change is continuously updated as the position of the lamp changes during the movement of the posture adjustment mechanism.

[0119] The control system converts the relative distance change into the corresponding spot size compensation parameter or focal length compensation parameter based on the pre-calibrated correspondence table between the lamp body-target distance and the spot size / focal length. Here, the specific parameters of the correspondence table can be determined by the optical design parameters of the surgical shadowless lamp and loaded into the lighting control module during system initialization, without any restrictions.

[0120] The control system adjusts the spot size or focal length parameters of the surgical shadowless lamp in a coordinated manner based on the spot size compensation parameters or focal length compensation parameters. For example, when the relative distance between the lamp body and the irradiated target increases, the focal length parameter is increased or the spot size compensation parameter is adjusted accordingly to maintain the uniformity of spot size and illuminance at the irradiated target; when the relative distance decreases, the focal length parameter is decreased or the spot size compensation parameter is adjusted accordingly.

[0121] The intelligent surgical shadowless lamp control method based on linkage constraints provided in this invention monitors the relative distance change between the physical position of the lamp body and the target illumination area in real time during the visual linkage motion of the posture adjustment mechanism, and adjusts the spot size compensation parameter or focal length parameter of the surgical shadowless lamp according to this linkage, thereby realizing deep coordinated linkage between the motion of the posture adjustment mechanism and the lighting parameters.

[0122] See also Figure 3 As shown, in some embodiments, the step of generating corresponding drive instructions based on the control intent and controlling the target control object to perform a target action based on the drive instructions includes: When the control intent is the control intent of the pose adjustment mechanism, a drive instruction containing a displacement vector is generated according to the displacement parameters carried in the control instruction, or a drive instruction containing a mode code is generated according to the mode parameters carried in the control instruction. The drive command is sent to the driver of the pose adjustment mechanism to control the pose adjustment mechanism to move to the target spatial position, or to execute the mechanical operation action corresponding to the pattern code; or... When the target controlled object is the lighting adjustment module of the surgical shadowless lamp, and the control intention is to adjust the lighting parameters, the control parameters carried in the control command are converted by communication protocol to generate a corresponding drive command, and the drive command is sent to the controller corresponding to the lighting adjustment module to control the lighting adjustment module to adjust the corresponding lighting state.

[0123] In one example, if the control command includes a displacement parameter, then a drive command containing a displacement vector is generated based on that displacement parameter.

[0124] Here, displacement parameters refer to the spatial motion of the pose adjustment mechanism explicitly specified in the control command, including the direction and distance of motion. The source of displacement parameters is not limited; they can come from the results of voice command parsing or from the directional control touch operation of the graphical interface.

[0125] The displacement vector is a three-dimensional vector representation of the displacement parameters in the coordinate system of the posture adjustment mechanism. The control system encapsulates the displacement vector into a drive command and sends it to the driver of the posture adjustment mechanism through the motion control bus, so as to control the posture adjustment mechanism to perform directional displacement movement relative to the current position and move to the target spatial position.

[0126] In another example, if the control instruction contains a mode parameter, then a drive instruction containing the mode code is generated based on that mode parameter.

[0127] Here, the mode parameter refers to the preset mode identifier specified in the control command, corresponding to a specific sequence of predefined operating actions of the pose adjustment mechanism. The type of preset mode action is not limited; in some embodiments, the preset mode action may include a reset mode; in other embodiments, the preset mode action may also include a cleaning mode.

[0128] The mode code is a unique identifier code corresponding to the preset mode action. The control system encapsulates the mode code into a drive command and sends it to the driver of the posture adjustment mechanism. The driver calls the corresponding running action sequence stored in advance according to the mode code and drives the posture adjustment mechanism to perform mechanical running actions.

[0129] See also Figure 3 As shown, when the target control object in the control command is the lighting adjustment module of the surgical shadowless lamp, and the control intention is to adjust the lighting parameters, the control system performs protocol conversion on the control parameters in the control command and generates corresponding drive commands.

[0130] The lighting adjustment module is a functional module in the surgical shadowless lamp system responsible for controlling lighting-related parameters. The adjustable parameters include, but are not limited to: the on / off status of the surgical shadowless lamp, brightness value, color temperature value, spot size, and working mode.

[0131] Protocol conversion refers to the process of converting control parameters in the standardized control command structure within the control system into low-level communication protocol data packets that can be recognized and executed by the hardware interface of the surgical lamp controller. The specific protocol format is not limited. The control system sends the converted drive commands to the surgical lamp controller through the corresponding communication interface, and the controller then performs the corresponding lighting parameter adjustment operations.

[0132] In some embodiments, receiving operational input for the surgical shadowless lamp and parsing the operational input to obtain control instructions includes: When the input is a voice signal, the voice signal is converted into a text sequence; Lexical decomposition is performed on the text sequence to extract intent feature words, device feature words, and control parameter feature words from the text sequence; Determine the control intent matched by the intent feature words, the target control object matched by the device feature words, and the control parameters matched by the control parameter feature words; The control intent, the target control object, and the control parameters are combined into a control command.

[0133] In this embodiment, the control system processes the voice signal through a voice acquisition and recognition module. The voice acquisition and recognition module collects the voice signal emitted by the user based on a microphone array, uses a voice recognition engine to perform voice recognition processing on the collected voice signal, and outputs the corresponding text sequence.

[0134] The command parsing module of the control system performs lexical decomposition on the text sequence and extracts the following three types of feature words from the text sequence: Intent-based words: words or phrases that express the operator's desired action, such as pointing, moving, brightening, turning off, switching, etc.

[0135] Device characteristic words: words or phrases that identify the target device object to which the control intent is applied, such as light, robotic arm, light spot, color temperature, etc., used to map to the corresponding target control object.

[0136] Control parameter feature words: words or numbers that express specific control quantification parameters, such as displacement distance, brightness adjustment amount, etc., which are used to map to the control parameter fields in the control instructions.

[0137] In some embodiments, the intent vocabulary is shown in Table 1 below: Table 1: Intent Lexicon In some embodiments, the device object mapping table is shown in Table 2 below: Table 2: Device Object Mapping Table The command parsing module performs semantic matching on the three types of extracted feature words. It matches the intent feature words with the predefined intent types in the intent vocabulary to determine the control intent; it matches the device feature words with the device object mapping table to determine the target control object; and it performs numerical or semantic parsing on the control parameter feature words to determine the control parameters.

[0138] The command parsing module encapsulates the control intent, target control object, and control parameter combination obtained from the above matching into a standardized control instruction data structure, and fills in the corresponding instruction type field and instruction source field, thus completing the complete parsing process from the raw voice signal to a structured control instruction that can be processed by the safety constraint module.

[0139] The intelligent surgical shadowless lamp control method based on linkage constraints provided in this invention adopts a command parsing method that combines voice acquisition and semantic analysis based on microphone array. The control system can parse the natural language voice commands issued by personnel into a standardized control command data structure, realizing the automatic mapping from fuzzy natural language to precise equipment control parameters.

[0140] In some embodiments, after generating corresponding drive instructions according to the control intent and controlling the target controlled object to perform the target action according to the drive instructions, the method further includes: Collect the light state event of the surgical shadowless lamp after it performs the target action and the robotic arm action event of the pose adjustment mechanism after it performs the target action; The light status event and the robotic arm action event are encapsulated into an event message; Based on the message queue publish-subscribe mechanism, the event message is broadcast to multiple control terminals to trigger the multiple control terminals to perform state synchronization updates.

[0141] In this embodiment, we continue to refer to Figure 1 As shown, the control system collects state events from the execution and feedback layer in real time through the state synchronization module: Lighting status events: After the surgical shadowless lamp executes the driving command, it reports the latest status of the current lighting parameters to the status synchronization module in the form of an event. The content of the lighting status event includes, but is not limited to, the current switch status, brightness value, color temperature value, light spot mode and working mode. Robotic arm motion events: After the posture adjustment mechanism executes the drive command, it reports the motion status information such as the current joint angle, motion completion status, current spatial position coordinates, and the type of motion task being executed, such as visual linkage tracking, manual displacement, reset, and task completion flag, to the status synchronization module in the form of events.

[0142] In some implementations, the state synchronization module can also collect instruction arbitration result events output by the priority arbitration module, including but not limited to intercepted low-priority instruction information and arbitration reasons; security verification result events output by the security constraint module, including but not limited to whether the verification passed and the specific reasons for failure; and working mode switching events, including but not limited to working mode identifiers before and after the switch.

[0143] Based on the above status events, the display interface of each control terminal can present a more complete system operating status to the operator, helping the operator to understand the current safety constraint status and instruction execution status of the system in a timely manner.

[0144] In some implementations, in case of abnormal situations such as execution failure, timeout failure, or hardware failure, the pose adjustment mechanism or surgical shadowless lamp controller will also report error information events, which will be broadcast by the status synchronization module.

[0145] The control system encapsulates the collected lighting status events and robotic arm motion events into event messages according to a predefined event message format. Then, based on a message queue publish-subscribe mechanism, it broadcasts the encapsulated event messages to all multiple control terminals that have subscribed to that event type.

[0146] Here, the types of multiple control terminals are not limited. In some embodiments, the control terminal may include a voice terminal; in other embodiments, the control terminal may include a graphical interface terminal.

[0147] After receiving the event message, multiple control terminals each trigger their respective status synchronization update operations, update the device status image maintained in their own terminals to the latest value, and refresh the corresponding display interface or execute the corresponding status response action.

[0148] The intelligent surgical shadowless lamp control method based on linkage constraints provided in this invention uses a message queue publish-subscribe mechanism to broadcast the lighting status events of the surgical shadowless lamp and the robotic arm movement events of the posture adjustment mechanism to multiple control terminals such as the voice terminal, the graphical interface terminal, and the background monitoring terminal in real time. The control system realizes real-time synchronous updates of the device status among multiple control terminals, ensuring that the status data displayed and used by each control terminal remains consistent in surgical scenarios where multiple devices and terminals work together.

[0149] Figure 5 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 5 As shown, the electronic device may include: a processor 510, a communication interface 520, a memory 530, and a communication bus 540, wherein the processor 510, the communication interface 520, and the memory 530 communicate with each other through the communication bus 540. The processor 510 can call logical instructions in the memory 530 to execute a smart surgical shadowless lamp control method based on linkage constraints, the method including: The system receives operation input for the surgical shadowless lamp and parses the operation input to obtain control instructions; the control instructions include at least the target control object and the control intention. Based on the current surgical procedure and the status of the surgical shadowless lamp, the control commands are subject to safety constraint verification. During the safety constraint verification process, when the target control object in the control command is the posture adjustment mechanism carrying the surgical shadowless lamp, and the control intention is spatial movement, it is determined whether the working mode, the illumination state of the surgical shadowless lamp, and the multi-source environmental perception state meet the preset motion pre-interlock rules; the multi-source environmental perception state includes at least one of the motion path interference warning state of the posture adjustment mechanism, the visual positioning state, and the robotic arm motion state; If the motion pre-interlock rule is satisfied, then a corresponding drive instruction is generated according to the control intention, and the target control object is controlled to perform the target action according to the drive instruction.

[0150] Furthermore, the logical instructions in the aforementioned memory 530 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the conventional, or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, etc., each of which can store program code.

[0151] On the other hand, embodiments of the present invention also provide a computer program product, the computer program product including a computer program, the computer program being able to be stored on a non-transitory computer-readable storage medium, and when the computer program is executed by a processor, the computer is able to execute the intelligent surgical shadowless lamp control method based on linkage constraints provided in each of the above embodiments, the method including: The system receives operation input for the surgical shadowless lamp and parses the operation input to obtain control instructions; the control instructions include at least the target control object and the control intention. Based on the current surgical procedure and the status of the surgical shadowless lamp, the control commands are subject to safety constraint verification. During the safety constraint verification process, when the target control object in the control command is the posture adjustment mechanism carrying the surgical shadowless lamp, and the control intention is spatial movement, it is determined whether the working mode, the illumination state of the surgical shadowless lamp, and the multi-source environmental perception state meet the preset motion pre-interlock rules; the multi-source environmental perception state includes at least one of the motion path interference warning state of the posture adjustment mechanism, the visual positioning state, and the robotic arm motion state; If the motion pre-interlock rule is satisfied, then a corresponding drive instruction is generated according to the control intention, and the target control object is controlled to perform the target action according to the drive instruction.

[0152] In another aspect, embodiments of the present invention also provide a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the intelligent surgical shadowless lamp control method based on linkage constraints provided in each of the above embodiments, the method comprising: The system receives operation input for the surgical shadowless lamp and parses the operation input to obtain control instructions; the control instructions include at least the target control object and the control intention. Based on the current surgical procedure and the status of the surgical shadowless lamp, the control commands are subject to safety constraint verification. During the safety constraint verification process, when the target control object in the control command is the posture adjustment mechanism carrying the surgical shadowless lamp, and the control intention is spatial movement, it is determined whether the working mode, the illumination state of the surgical shadowless lamp, and the multi-source environmental perception state meet the preset motion pre-interlock rules; the multi-source environmental perception state includes at least one of the motion path interference warning state of the posture adjustment mechanism, the visual positioning state, and the robotic arm motion state; If the motion pre-interlock rule is satisfied, then a corresponding drive instruction is generated according to the control intention, and the target control object is controlled to perform the target action according to the drive instruction.

[0153] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0154] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the conventional, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0155] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in each of the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of each embodiment of the present invention.

Claims

1. A method for controlling an intelligent surgical shadowless lamp based on linkage constraints, characterized in that, include: Receive operation input for the surgical shadowless lamp, and parse the operation input to obtain control instructions; The control command includes at least the target control object and the control intent; Based on the current surgical procedure and the status of the surgical shadowless lamp, the control commands are subject to safety constraint verification. During the safety constraint verification process, when the target control object in the control command is the posture adjustment mechanism carrying the surgical shadowless lamp, and the control intention is spatial movement, it is determined whether the working mode, the illumination state of the surgical shadowless lamp, and the multi-source environmental perception state meet the preset motion pre-interlock rules; the multi-source environmental perception state includes at least one of the motion path interference warning state of the posture adjustment mechanism, the visual positioning state, and the robotic arm motion state; If the motion pre-interlock rule is satisfied, then a corresponding drive instruction is generated according to the control intention, and the target control object is controlled to perform the target action according to the drive instruction.

2. The intelligent surgical shadowless lamp control method based on linkage constraints according to claim 1, characterized in that, Before performing safety constraint verification on the control command, the method further includes: If multiple control instructions are parsed within a preset time window, or if the currently parsed control instruction conflicts with the currently executing driver instruction in terms of resource access, then the target control instruction for security constraint verification is determined based on a preset priority arbitration rule. The control commands include abnormal blocking commands, state adjustment commands, and visual linkage commands. The priority arbitration rule includes that the abnormal blocking commands have a higher priority than the state adjustment commands, and the state adjustment commands have a higher priority than the visual linkage commands. Furthermore, when multiple control commands have the same command type but different command sources, the control commands originating from the voice input channel have a higher priority than the control commands originating from the graphical interface input channel. Accordingly, the step of performing safety constraint verification on the control commands based on the current surgical operating mode and the equipment status of the surgical shadowless lamp includes: Based on the current surgical procedure and the status of the surgical shadowless lamp, the target control command is subjected to safety constraint verification.

3. The intelligent surgical shadowless lamp control method based on linkage constraints according to claim 2, characterized in that, After determining the target control command based on the preset priority arbitration rules, the method further includes: If the target control command is the abnormal blocking command, then the safety constraint verification is skipped and a corresponding emergency stop drive command is generated to control the pose adjustment mechanism and the surgical shadowless lamp to enter the safety lock state. If the target control instruction is the state adjustment instruction, and the currently executing drive instruction corresponds to the visual linkage control intent, then the visual following motion task is interrupted, and the safety constraint verification is performed on the state adjustment instruction.

4. The intelligent surgical shadowless lamp control method based on linkage constraints according to claim 1, characterized in that, Determining whether the working mode, the illumination state of the surgical shadowless lamp, and the multi-source environmental perception state satisfy the preset motion pre-interlock rules includes: The current multi-source environmental perception state is obtained; the multi-source environmental perception state includes the motion path interference warning state of the pose adjustment mechanism, the visual positioning state, and the robotic arm motion state; If the motion path interference warning status indicates a risk of physical collision or personnel intrusion, it is determined that the preset motion pre-interlock rule is not met. If the motion path interference warning status indicates safety, and the working mode is cleaning mode and the surgical shadowless lamp is in the on state, then it is determined that the preset motion pre-interlock rule is not met. If the motion path interference warning status indicates safety, and the robotic arm motion status indicates that the pose adjustment mechanism is currently executing other motion sequences, then it is determined that the preset motion pre-interlock rule is not met. If the motion path interference warning state indicates safety, and the working mode is surgical mode and the visual positioning state is target loss state, then it is determined that the preset motion pre-interlocking rule is not met. If the motion path interference warning status indicates safety, and the working mode is surgical mode and the motion speed of the spatial motion exceeds a preset threshold, then it is determined whether the lighting parameters corresponding to the lighting status of the surgical shadowless lamp are within the preset safety parameter limit range. If the safety parameter limit is not met, the preset motion pre-interlock rule is not satisfied. If it is within the range of the aforementioned safety parameters, then it is determined that the preset motion pre-interlock rule is met; If the motion path interference warning status indicates safety, and the working mode is surgical mode, the visual positioning status is effective tracking status, the robotic arm motion status indicates that the pose adjustment mechanism has not executed other motion sequences, and the motion speed of the spatial motion does not exceed the preset threshold, then it is determined that the preset motion pre-interlocking rule is satisfied.

5. The intelligent surgical shadowless lamp control method based on linkage constraints according to claim 4, characterized in that, After determining whether the working mode, the illumination state of the surgical shadowless lamp, and the multi-source environmental perception state meet the preset motion pre-interlock rules, the method further includes: If the motion pre-interlock rule is not met, the control command is intercepted and an exception handling strategy is triggered. The exception handling strategy includes: When the motion path interference warning status indicates a risk of physical collision or personnel intrusion, the posture adjustment mechanism is controlled to perform an anti-collision emergency stop action. When there is a safety conflict between the working mode and the lighting state, the lighting parameters of the surgical shadowless lamp are adjusted to a preset safety value; When the visual positioning state is a target loss state, the current motion sequence of the target control object is stopped and an environmental perception loss prompt is output. When the robotic arm's motion state indicates that the pose adjustment mechanism is currently executing other motion sequences, a motion conflict warning is output, and the current control command is added to the queue to be executed. When the working mode is surgical mode and the lighting parameters exceed the safety parameter limit range, the lighting parameters are adjusted to the safety parameter limit range, and the process returns to the step of determining whether the working mode, the lighting state of the surgical shadowless lamp, and the multi-source environmental perception state meet the preset motion pre-interlock rules.

6. The intelligent surgical shadowless lamp control method based on linkage constraints according to claim 1, characterized in that, The step of generating corresponding drive instructions based on the control intent, and controlling the target control object to perform target actions based on the drive instructions, includes: When the control intent is a visual linkage intent, acquire an image of the surgical area; Determine the target object information in the surgical area image; the target object information includes the three-dimensional pose of the visual positioning markers attached to the surgical navigation tool or the three-dimensional coordinates of key human body points; Based on the target object information in the current image frame, update the target illumination area of ​​the surgical shadowless lamp and the target pose of the pose adjustment mechanism; Based on the updated target illumination area and target pose, pose compensation parameters for driving the pose adjustment mechanism are generated through inverse kinematics calculation. Based on the pose compensation parameters, the expected following trajectory of the pose adjustment mechanism is generated, and interference collision detection is performed on the expected following trajectory; if no collision risk is detected, a corresponding driving command is generated based on the expected following trajectory, and the pose adjustment mechanism is controlled to follow the target illumination area according to the driving command.

7. The intelligent surgical shadowless lamp control method based on linkage constraints according to claim 6, characterized in that, The step of controlling the pose adjustment mechanism to follow the target illumination area according to the driving command further includes: Determine the physical position of the posture adjustment mechanism during spatial movement; Determine the change in the relative distance between the physical location and the target irradiation area; The relative distance change is converted into the spot size compensation parameter or focal length compensation parameter of the surgical shadowless lamp; The spot size or focal length of the surgical shadowless lamp is adjusted according to the spot size compensation parameter or the focal length compensation parameter.

8. The intelligent surgical shadowless lamp control method based on linkage constraints according to claim 1, characterized in that, The step of generating corresponding drive instructions based on the control intent, and controlling the target control object to perform target actions based on the drive instructions, includes: When the control intent is the control intent of the pose adjustment mechanism, a drive instruction containing a displacement vector is generated according to the displacement parameters carried in the control instruction, or a drive instruction containing a mode code is generated according to the mode parameters carried in the control instruction. The drive command is sent to the driver of the pose adjustment mechanism to control the pose adjustment mechanism to move to the target spatial position, or to execute the mechanical operation action corresponding to the pattern code; or... When the target controlled object is the lighting adjustment module of the surgical shadowless lamp, and the control intention is to adjust the lighting parameters, the control parameters carried in the control command are converted by communication protocol to generate a corresponding drive command, and the drive command is sent to the controller corresponding to the lighting adjustment module to control the lighting adjustment module to adjust the corresponding lighting state.

9. The intelligent surgical shadowless lamp control method based on linkage constraints according to claim 1, characterized in that, The process of receiving operational input for the surgical shadowless lamp and parsing the operational input to obtain control commands includes: When the input is a voice signal, the voice signal is converted into a text sequence; Lexical decomposition is performed on the text sequence to extract intent feature words, device feature words, and control parameter feature words from the text sequence; Determine the control intent matched by the intent feature words, the target control object matched by the device feature words, and the control parameters matched by the control parameter feature words; The control intent, the target control object, and the control parameters are combined into a control command.

10. The intelligent surgical shadowless lamp control method based on linkage constraints according to claim 1, characterized in that, After generating corresponding drive instructions based on the control intent and controlling the target controlled object to perform the target action according to the drive instructions, the method further includes: Collect the light state event of the surgical shadowless lamp after it performs the target action and the robotic arm action event of the pose adjustment mechanism after it performs the target action; The light status event and the robotic arm action event are encapsulated into an event message; Based on the message queue publish-subscribe mechanism, the event message is broadcast to multiple control terminals to trigger the multiple control terminals to perform state synchronization updates.

11. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, When the processor executes the computer program, it implements the intelligent surgical shadowless lamp control method based on linkage constraints as described in any one of claims 1 to 10.

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