CN115811819A - Intelligent shadowless lamp system of bracelet direction - Google Patents
Intelligent shadowless lamp system of bracelet direction Download PDFInfo
- Publication number
- CN115811819A CN115811819A CN202211519961.4A CN202211519961A CN115811819A CN 115811819 A CN115811819 A CN 115811819A CN 202211519961 A CN202211519961 A CN 202211519961A CN 115811819 A CN115811819 A CN 115811819A
- Authority
- CN
- China
- Prior art keywords
- shadowless lamp
- bracelet
- lamp
- angle
- operator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 claims abstract description 21
- 238000005286 illumination Methods 0.000 claims abstract description 9
- 238000004891 communication Methods 0.000 claims abstract description 6
- 230000033001 locomotion Effects 0.000 claims description 13
- 210000000707 wrist Anatomy 0.000 claims description 11
- 239000011159 matrix material Substances 0.000 claims description 10
- 238000004364 calculation method Methods 0.000 claims description 9
- 239000013598 vector Substances 0.000 claims description 9
- 238000004422 calculation algorithm Methods 0.000 claims description 4
- 238000005381 potential energy Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims description 2
- 238000005259 measurement Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 3
- 230000000903 blocking effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 3
- 230000002618 waking effect Effects 0.000 description 2
- 241000894006 Bacteria Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 210000001145 finger joint Anatomy 0.000 description 1
- 210000000245 forearm Anatomy 0.000 description 1
- 230000003760 hair shine Effects 0.000 description 1
- 208000015181 infectious disease Diseases 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 210000000811 metacarpophalangeal joint Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
- Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection
Landscapes
- Circuit Arrangement For Electric Light Sources In General (AREA)
Abstract
A bracelet-oriented intelligent shadowless lamp system comprises a shadowless lamp and a lamp bracket thereof, a camera, a bracelet remote control device and a control center; the shadowless lamp is arranged above the operating table through a lamp bracket and is in communication connection with the bracelet remote control device through a control center, and the camera is arranged on the shadowless lamp and one side of the operating table; the bracelet remote control device comprises a gyroscope, an input device and a signal transmitting device, wherein the input device and the gyroscope are respectively electrically connected with the signal transmitting device. The system realizes the adjustment of the position, the illumination angle and the brightness of the shadowless lamp through gesture recognition, is simple and convenient to operate, and simultaneously avoids touching an operator or blocking light rays by the operator in the moving process of the shadowless lamp through the image acquisition of the camera, thereby realizing good illumination effect; based on the bracelet realization, the precision can be guaranteed, with low costs facilitate promotion.
Description
Technical Field
The invention relates to the field of medical equipment and surgical instruments, in particular to a bracelet-oriented intelligent shadowless lamp system.
Background
Surgical shadowless lamps are used intraoperatively to illuminate a surgical site, minimize shadows in the illuminated site, and optimally view small, low contrast objects at various depths in incisions and body cavities. However, the shadowless lamp used in the operating room needs to be adjusted by the assistance of a circulating nurse or an operator adjusts the irradiation position through a sterile lamp handle. In the operation process, the position and the direction of the shadowless lamp need to be adjusted according to the adopted operation body position and the difference of the operation position, the position of the shadowless lamp is repeatedly adjusted, the problems that the illumination effect is poor due to the adjustment of the position deviation, the connecting rod is collided in the adjustment process, the body is collided with a bacterium area and the like exist. The shadowless lamp developed at present, for example, cn202110774333.X, a remote control operation shadowless lamp, although the position of the shadowless lamp can be remotely adjusted, has the problems of not accurate adjustment position and not flexible mechanical device. CN202010224828.0 can automatically track the intelligent shadowless lamp control system and method of scalpel, although the tracking of light to scalpel can be realized, the light can not accurately irradiate deeper operation incision through a specific angle. CN202020288516.1, a voice shadowless lamp, and some shadowless lamps which are adjusted by voice, but there are extremely high requirements for description accuracy, and it is difficult to accurately position in operation.
Disclosure of Invention
The invention aims to design a novel bracelet-oriented intelligent shadowless lamp system, which can intelligently plan a motion track through a control center by matching a bracelet remote control device with a camera, finally reaches a specified position to illuminate the required position at a specific angle, and has no problem of contact with an operator or light blockage of the operator in operation.
A bracelet-oriented intelligent shadowless lamp system comprises a shadowless lamp and a lamp bracket thereof, a camera, a bracelet remote control device and a control center;
the shadowless lamp is arranged above the operating table through a lamp bracket comprising a mechanical joint and is in communication connection with the bracelet remote control device through a control center, and the camera is arranged on the shadowless lamp and one side of the operating table; the control center is connected with the mechanical joint and is responsible for receiving an output signal of the remote control device, converting the output signal into corresponding coordinates and outputting the coordinates to the mechanical joint, and driving the mechanical joint through the servo motor according to the coordinates to adjust the shadowless lamp to a specified position;
the bracelet remote control device comprises a gyroscope, an input device and a signal transmitting device, wherein the input device and the gyroscope are respectively electrically connected with the signal transmitting device.
The camera collects the position images of the operated person and the surrounding operated person on the operating table and transmits the position images to the control center.
The gyroscope of the bracelet remote control device collects movement and rotation information of the wrist of a user, and the movement information and the rotation information are transmitted to the control center by the signal transmitting device.
The control center converts the mobile information into a shadowless lamp position instruction, converts the rotation information into a shadowless lamp angle instruction, and then adjusts the position and the angle of the shadowless lamp through the lamp bracket.
The shadowless lamp position instruction comprises an irradiation position, an irradiation direction and a shadowless lamp target pose.
After the control center processes the mobile information and the rotation information, the control center combines the position images given by the camera, adopts an artificial potential field method to carry out real-time path planning so as to avoid the collision of the shadowless lamp and an operator, and simultaneously avoids the operator from shielding the light of the shadowless lamp.
The input device of the bracelet remote control device receives the brightness adjustment information and transmits the information to the control center by the signal transmitting device to adjust the brightness of the shadowless lamp.
The invention achieves the following beneficial effects:
(1) The intelligent shadowless lamp system based on the bracelet control is provided, the adjustment of the position, the irradiation angle and the brightness of the shadowless lamp is realized through gesture recognition, the operation is simple and convenient, the operation efficiency is improved, and meanwhile, the accidental infection caused by touching a sterile area when the lamp holder is manually adjusted is avoided;
(2) Images are collected through a camera, planning of adjusting moving paths of the shadowless lamp is designed based on an artificial potential field method, light rays are prevented from being blocked by an operator or an operated person in the moving process of the shadowless lamp, and a better lighting effect is achieved;
(3) Based on bracelet realization, the calculation method of the irradiation position, the irradiation direction and the target pose of the shadowless lamp is designed, the adjustment precision can be ensured, the cost is low, and the popularization is convenient.
Drawings
Fig. 1 is a schematic diagram of an application of the intelligent shadowless lamp system in the embodiment of the invention.
Fig. 2 is a top view of an application of the intelligent shadowless lamp system in the embodiment of the invention.
Fig. 3 is a side view of an application of the intelligent shadowless lamp system in an embodiment of the invention.
Fig. 4 is an application front view of the intelligent shadowless lamp system in the embodiment of the invention.
Fig. 5 is a side view of a mechanical joint according to an embodiment of the present invention.
Fig. 6 is another side view of a mechanical joint according to an embodiment of the present invention.
Fig. 7 is an internal circuit diagram of the bracelet remote control device according to an embodiment of the invention.
Fig. 8 is a schematic diagram illustrating the calculation of the irradiation position according to the embodiment of the present invention.
Fig. 9 is a schematic view illustrating the calculation of the illumination direction and the pose of the shadowless lamp target in the embodiment of the invention.
In the figure, 1-bracelet remote control device, 2-shadowless lamp, 3-lamp bracket, 4-control center, and 5-camera.
Detailed Description
The technical scheme of the invention is further explained in detail by combining the drawings in the specification.
A bracelet-oriented intelligent shadowless lamp system comprises a shadowless lamp 2 and a lamp holder 3 thereof, a camera 5, a bracelet remote control device 1 and a control center 4 with reference to figure 1.
The bracelet remote control device 1 comprises a gyroscope, an input device, a signal transmitting device, a positioning device and a brightness adjusting button, wherein the input device and the gyroscope are respectively and electrically connected with the signal transmitting device. The gyroscope of the bracelet remote control device 1 collects movement and rotation information at the wrist and transmits the movement information and the rotation information to the control center 4 by the signal transmitting device.
The camera 5 collects images of the position of the patient on the operating table and of the surrounding operator and transmits them to the control center 4.
The control center 4 converts the movement information into a shadowless lamp position instruction, converts the rotation information into a shadowless lamp angle instruction, and then adjusts the position and the angle of the shadowless lamp 2 through the lamp bracket 3. The control center 4 processes the movement information and forwards the information, combines the position image given by the camera, plans the movement track of the lamp bracket 3, avoids the shadowless lamp 2 from contacting with the operator and the operator in the moving process, and simultaneously avoids the operator from shielding the light of the shadowless lamp.
The input device of the bracelet remote control device 1 receives the brightness adjustment information and transmits the information to the control center 4 by the signal transmitting device to adjust the brightness of the shadowless lamp 2. The input device may be a touch screen.
The specific working flow of the system is as follows:
(1) The operator wears the bracelet and sets the original parameters. The parameters comprise the height brightness of the operating lamp, the position of a light spot and the distance between the bracelet remote control device 1 and the fingers. The hand ring is internally provided with a positioning device which can position the space position of the hand ring on the operating table, the distance (such as 20 cm) from the hand ring to the index finger can be input on the hand ring, the space position of the index finger on the operating table can be determined by adding the space position of the hand ring and the distance between the hand ring and the index finger, and the data expression transmission of space coordinates is carried out, namely the position of the index finger is used as an ideal irradiation point of an operator.
(2) When the position of the light spot needs to be adjusted in the operation process (when the body position of the patient changes), the adjusting function of the bracelet is awakened; the waking up can adopt other forms such as clicking the input device of the bracelet remote control device 1 or voice waking up.
(3) Determining the ideal irradiation point of the operator according to the preset indicating position; the hand ring, the palm and the finger joints are positioned on the same straight line, at the moment, the indicating finger is positioned at the irradiation point, the indicating finger points to the position needing irradiation, and the wrist inclines to the ideal shadowless lamp irradiation angle of the operator; and the corresponding brightness can be adjusted by using a button on the bracelet.
(4) The gyroscope in the bracelet records the inclination angle of the wrist, the angle is the angle that the operator hopes the light of the shadowless lamp to enter (the data pointed by the finger is the ideal adjustable irradiation point set before the operation), and transmits the parameter value and the brightness adjusting information of the irradiation point to the control center.
(5) The control center intelligently plans the movement track of the lamp bracket by calculating the angle and the corresponding parameters; meanwhile, the camera provides the positions of the operated person on the operating table and the operated persons around the operating table, so that the shadowless lamp is prevented from contacting the operated person and the operated person in the moving process, and the light of the shadowless lamp is prevented from being shielded by the operated person.
(6) The shadowless lamp moves to a specified position according to the calculated track, and the brightness and the angle are adjusted to finally illuminate the required position.
2-4, an exemplary application description of the present intelligent shadowless lamp system is made: the indicating finger is positioned at the irradiation point, the wrist is vertical to the operating table, and the upper shadowless lamp light irradiates the position of the indicating finger in the direction vertical to the operating table: the patient position changes, and the finger is located the irradiation point to the instruction, and the wrist becomes sixty degrees contained angle with the operating table, and the shadowless lamp prevents according to the camera that light is sheltered from by the art person, and the lighting fixture moves to corresponding position by oneself, then the shadowless lamp shines at the irradiation point with the contained angle that becomes sixty degrees with the operating table.
The various components of the system are described in detail with reference to the figures.
For the bracelet remote control device 1, a single chip microcomputer, an Inertia Measurement Unit (IMU) and a Zigbee module are embedded (as shown in fig. 7). Wherein, a three-axis gyroscope, an accelerometer and a magnetometer are arranged in the IMU, the pose of a coordinate system fixedly connected with the bracelet relative to a northeast coordinate system can be provided according to an internally integrated strapdown inertial navigation algorithm, and the three-dimensional position (x, y, z) and the Euler angle (alpha, beta, gamma) of the bracelet coordinate system relative to a global coordinate system can be obtained after coordinate conversion and calibration; the single chip microcomputer receives the pose information of the bracelet coordinate system and then sends the pose information of the bracelet coordinate system to the Zigbee module through a serial port protocol, and the Zigbee module sends the pose information of the bracelet coordinate system to the control center 4 in real time through a Zigbee communication protocol in a wireless transmission mode.
In the process of adjusting the position and the angle of the shadowless lamp, the index finger of an operator points to the position P to be illuminated f The shadowless lamp will aim the light at P f Then, the operator rotates through the forearm to adjust the bracelet gesture to control shadowless lamp's irradiation angle. The shadowless lamp system calculates the irradiation position P according to the pose information (three-dimensional coordinates and Euler angles) of the bracelet coordinate system f And the illumination direction, wherein the specific calculation method is as follows, the coordinates, angles, vectors and rotation matrixes involved in the calculation method are all relative to a unified global coordinate system, and all coordinate systems (a bracelet coordinate system, an external camera coordinate system, a shadowless lamp coordinate system and a northeast coordinate system) are unified by calibration:
irradiation position P f The calculation of (2): considering the origin P of the bracelet coordinate system wrist (see fig. 8) and the starting point of the pointing direction (i.e. metacarpophalangeal joint) P hand It does not coincide, and the direction of indicating the finger and bracelet coordinate system X axle have certain contained angle, need carry out corresponding compensation through the geometric dimensions as shown in figure 8 to obtain more accurate direction of indicating the finger and indicate direction starting point position. Firstly, calculating a rotation matrix corresponding to a bracelet coordinate system according to an Euler angle, wherein the rotation matrix is as follows:
wherein, the first row of the rotation matrix R is the unit vector corresponding to the X axis of the bracelet coordinate system:
the third column of the rotation matrix R is a unit vector corresponding to the Z axis of the bracelet coordinate system:
the direction of the indicator and the X-axis direction of the coordinate system of the shadowless lamp form an included angle theta 1 Hand ring coordinate system origin P wrist And indicate the node P hand The distance deviations d1 and d2 are compensation amounts which can be set before the operation, and default values of the distance deviations d1 and d2 can be set to be 30 mm, 3mm and 12mm respectively. According to the figure, the included angle between the X axis of the bracelet coordinate system and the indicating direction is theta 1 The unit vector of the pointing direction can be calculated as:
starting point P of pointing direction hand The coordinates are:
can start point P according to the pointing direction hand Unit vector corresponding to pointing direction
Height h of operating table 1 Calculate the food for the patient after operationPoint of illumination P directed by finger f Three-dimensional coordinates of (a):
and (3) calculating the irradiation direction and the pose of the shadowless lamp target: referring to fig. 9, the shadowless lamp system adjusts the angle of the lamp surface of the shadowless lamp through the servo motor and the connecting rod, so that the pitch angle and the yaw angle of the irradiation direction and the indication direction
The pitch angle of (c) is consistent with the yaw angle, and the pitch angle phi and the yaw angle theta in the irradiation direction are shown in fig. 9. C is the geometric center of the operator, given by the external depth vision camera 5 through a YOLO algorithm, A is the projection of the geometric center of the shadowless lamp on the horizontal plane, and when calculating the pitch angle, the horizontal plane is taken as a reference plane, the irradiation direction B-Pf and the P on the horizontal plane are taken as f The included angle formed by the A is a pitch angle phi, and when the yaw angle is calculated, the vertical plane of the operator is taken as a reference plane, and the vertical plane P of the shadowless lamp is taken as a vertical plane P f -A-D and a vertical plane P in which the geometric centre of the surgeon lies f The included angle formed by-C-D-E is the yaw angle theta of the irradiation direction. The operator controls the irradiation angle of the shadowless lamp through the bracelet, and the pitch angle and the yaw angle of the irradiation direction are always consistent with the pitch angle and the yaw angle of the corrected indication direction. Shadowless lamp system according to the coordinates P of the illumination point f And calculating the position and the posture of the shadowless lamp by using the pitch angle phi and the yaw angle theta of the irradiation direction and the set value h of the height of the shadowless lamp.
The three-dimensional coordinates of the target position of the shadowless lamp are as follows:
meanwhile, the shadowless lamp needs to be adjusted in angle so that the lamp surface of the shadowless lamp is perpendicular to the irradiation direction.
The shadowless lamp system plans a moving track according to the target pose of the shadowless lamp and the positions of an operator and surrounding operators (obtained through an external camera), and takes the fact that the operator may move in the pose adjusting process of the shadowless lamp into consideration, and the system adopts an artificial potential field method to plan a real-time path so as to avoid possible collision between the shadowless lamp and the operator. The artificial potential field method generates an gravitational field near the target position of the shadowless lamp, and takes an operator and surrounding operators as obstacles to generate a repulsive field around the operator, so that the shadowless lamp can be quickly drawn close to the target position and avoid the obstacles at the same time, and the specific algorithm formula is as follows:
wherein, U att Is gravitational field potential energy generated by target position of shadowless lamp, U rep Is the repulsive field potential energy generated by the ith operator, B is the three-dimensional coordinate of the current position of the shadowless lamp, B goal Is the target position of the shadowless lamp, P i Is the three-dimensional coordinate of the geometric center of the ith operator, | B-B goal I represents the distance between the shadowless lamp and the target position, epsilon and eta are potential field scale factors, d goal And d rep Respectively, the influence range threshold of the gravitational field and the repulsive field. The shadowless lamp moves towards the target position under the influence of the gravitational field and the repulsive field, the collision with an operator can be avoided in the process, and the calculation formula of the speed of the shadowless lamp is as follows:
wherein,
is the speed of the shadowless lamp planned in real time, U is the resultant field of the attraction force and the repulsion force of the current position of the shadowless lamp,
is the gradient of the potential field at the current position of the shadowless lamp. Subsequently, the control center 4 moves the shadowless lamp at a speed
The axial rotation speed of a servo motor of the shadowless lamp connecting rod driving mechanism is converted through a Jacobian matrix J and a robot reverse kinematics formula, and is sent to a shadowless lamp bracket 3, and the shadowless lamp is moved to a target position from the current position.
The above description is only a preferred embodiment of the present invention, and the scope of the present invention is not limited to the above embodiment, but equivalent modifications or changes made by those skilled in the art according to the present disclosure should be included in the scope of the present invention as set forth in the appended claims.
Claims (10)
1. The utility model provides an intelligent shadowless lamp system of bracelet direction which characterized in that:
the system comprises a shadowless lamp and a lamp bracket thereof, a camera, a bracelet remote control device and a control center;
the shadowless lamp is arranged above the operating table through a lamp bracket comprising a mechanical joint and is in communication connection with the bracelet remote control device through a control center, and the camera is arranged on the shadowless lamp and one side of the operating table; the control center is connected with the mechanical joint and is responsible for receiving an output signal of the remote control device, converting the output signal into corresponding coordinates and outputting the coordinates to the mechanical joint, and driving the mechanical joint through the servo motor according to the coordinates to adjust the shadowless lamp to a specified position;
the bracelet remote control device comprises a gyroscope, an input device and a signal transmitting device, and the input device and the gyroscope are electrically connected with the signal transmitting device respectively.
2. The bracelet-oriented intelligent shadowless lamp system of claim 1, wherein: the camera collects position images of an operated person and surrounding operated persons on the operating table and transmits the position images to the control center.
3. The bracelet-oriented intelligent shadowless lamp system of claim 1, wherein: the gyroscope of the bracelet remote control device collects movement and rotation information of the wrist of a user and transmits the movement information and the rotation information to the control center through the signal transmitting device.
4. The bracelet-oriented intelligent shadowless lamp system of claim 3, wherein: the bracelet remote control device comprises a single chip microcomputer, an inertia measurement unit IMU and a Zigbee module; a three-axis gyroscope, an accelerometer and a magnetometer are arranged in the IMU, and the three-dimensional position (x, y, z) and the Euler angle (alpha, beta, gamma) of the bracelet coordinate system relative to the global coordinate system are obtained after coordinate conversion and calibration; the single chip microcomputer receives the three-dimensional position and Euler angle information of the bracelet coordinate system and then sends the three-dimensional position and Euler angle information to the Zigbee module through a serial port protocol, and the Zigbee module sends the pose information of the bracelet coordinate system to the control center in real time in a wireless transmission mode through a Zigbee communication protocol.
5. The bracelet-oriented intelligent shadowless lamp system of claim 4, wherein: the control center converts the mobile information into a shadowless lamp position instruction, converts the rotation information into a shadowless lamp angle instruction, and then adjusts the position and the angle of the shadowless lamp through the lamp bracket.
6. The bracelet-oriented intelligent shadowless lamp system of claim 5, wherein: the shadowless lamp position command comprises an irradiation position P f And the irradiation direction and the target pose of the shadowless lamp.
7. The bracelet-oriented intelligent shadowless lamp system of claim 6, wherein: irradiation position P f The calculation of (2): considering the origin P of the coordinate system of the bracelet wrist And a starting point P of the pointing direction hand The directions are not overlapped, and a certain included angle exists between the direction of the index finger and the X axis of the coordinate system of the bracelet, and corresponding compensation is needed, so that the starting point positions of the direction of the index finger and the direction of the index finger are obtained; firstly, calculating a rotation matrix corresponding to a bracelet coordinate system according to an Euler angle, wherein the rotation matrix is as follows:
wherein, the first row of rotation matrix R is the unit vector that the X-axis of bracelet coordinate system corresponds:
the third column of the rotation matrix R is a unit vector corresponding to the Z axis of the bracelet coordinate system:
the direction of the indicator and the X-axis direction of the coordinate system of the shadowless lamp form an included angle theta 1 Hand ring coordinate system origin P wrist And indicate the node P hand The distance deviation d1 and d2 are compensation quantities set before the operation; the included angle between the X axis of the bracelet coordinate system and the direction of the index finger is theta 1 And calculating the unit vector of the pointing direction as follows:
starting point P of pointing direction hand The coordinates are:
starting point P according to pointing direction hand Unit vector corresponding to pointing direction
Height h of operating table 1 Calculate the irradiation point P pointed by the index finger of the operator f Three-dimensional coordinates of (a):
8. the bracelet-oriented intelligent shadowless lamp system of claim 6, wherein: and (3) calculating the irradiation direction and the target pose of the shadowless lamp: the angle of the lamp surface of the shadowless lamp is adjusted through a servo motor and a mechanical joint, so that the pitch angle phi and the yaw angle theta in the irradiation direction are consistent with those in the indicating direction; c is the geometric center of the operator, which is given by an external depth vision camera through a YOLO algorithm, A is the projection of the geometric center of the shadowless lamp on the horizontal plane, and when calculating the pitch angle, the horizontal plane is taken as a reference plane, the irradiation direction B-Pf and the P on the horizontal plane are taken as f The included angle formed by the A is a pitch angle phi, and when the yaw angle is calculated, the vertical plane of the operator is taken as a reference plane, and the vertical plane P of the shadowless lamp is taken as a vertical plane P f -A-D and a vertical plane P in which the geometric centre of the surgeon lies f -C-D-E is the yaw angle θ of the illumination direction; the operator controls the irradiation angle of the shadowless lamp through the bracelet, and the pitch angle and the yaw angle of the irradiation direction are always consistent with the corrected pitch angle and yaw angle of the indicating direction; shadowless lamp system according to the coordinates P of the illumination point f Calculating the position and the posture of the shadowless lamp by using the pitch angle phi and the yaw angle theta of the irradiation direction and a set value h of the height of the shadowless lamp;
the three-dimensional coordinates of the target position of the shadowless lamp are as follows:
meanwhile, the shadowless lamp needs to be adjusted in angle so that the lamp surface of the shadowless lamp is perpendicular to the irradiation direction.
9. The bracelet-oriented intelligent shadowless lamp system of claim 3, wherein: after the control center processes the movement information and the rotation information, the control center combines position images given by the camera, and adopts an artificial potential field method to carry out real-time path planning so as to avoid collision between the shadowless lamp and an operator and simultaneously avoid the operator from shielding light rays of the shadowless lamp;
the artificial potential field method generates an attraction field near the target position of the shadowless lamp, and takes an operator and surrounding operators as obstacles, and generates a repulsion field around the operator, so that the shadowless lamp is close to the target position and avoids the obstacles, and the formula is as follows:
wherein, U att Is gravitational field potential energy generated by target position of shadowless lamp, U rep Is the repulsive field potential energy generated by the ith operator, B is the three-dimensional coordinate of the current position of the shadowless lamp, B goal Is the target position of the shadowless lamp, P i Is the three-dimensional coordinate of the geometric center of the ith operator, | B-B goal I represents the distance between the shadowless lamp and the target position, epsilon and eta are potential field scale factors, d goal And d rep Respectively, influence range thresholds of a gravitational field and a repulsive field; the shadowless lamp moves towards the target position under the influence of the gravitational field and the repulsive field, the collision with an operator is avoided in the process, and the calculation formula of the speed of the shadowless lamp is as follows:
wherein,
is the speed of the shadowless lamp planned in real time, U is the resultant field of the attraction force and the repulsion force of the current position of the shadowless lamp,
is the gradient of the potential field at the current position of the shadowless lamp; then, the control center moves the shadowless lamp at a speed
And converting the Jacobian matrix J and a robot inverse kinematics formula into the shaft rotation speed of a servo motor of a shadowless lamp mechanical joint driving mechanism, sending the shaft rotation speed to a shadowless lamp bracket, and moving the shadowless lamp from the current position to the target position.
10. The bracelet-oriented intelligent shadowless lamp system of claim 1, wherein: the input device of the bracelet remote control device receives brightness adjustment information and transmits the brightness adjustment information to the control center by the signal transmitting device to adjust the brightness of the shadowless lamp.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211519961.4A CN115811819A (en) | 2022-11-30 | 2022-11-30 | Intelligent shadowless lamp system of bracelet direction |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211519961.4A CN115811819A (en) | 2022-11-30 | 2022-11-30 | Intelligent shadowless lamp system of bracelet direction |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115811819A true CN115811819A (en) | 2023-03-17 |
Family
ID=85484512
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211519961.4A Pending CN115811819A (en) | 2022-11-30 | 2022-11-30 | Intelligent shadowless lamp system of bracelet direction |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115811819A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116690585A (en) * | 2023-07-25 | 2023-09-05 | 上海汇丰医疗器械股份有限公司 | Shadowless lamp path planning method and device based on automatic mechanical arm |
| CN117119646A (en) * | 2023-10-20 | 2023-11-24 | 南通医疗器械有限公司 | Shadowless lamp regulating and controlling method and system |
-
2022
- 2022-11-30 CN CN202211519961.4A patent/CN115811819A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116690585A (en) * | 2023-07-25 | 2023-09-05 | 上海汇丰医疗器械股份有限公司 | Shadowless lamp path planning method and device based on automatic mechanical arm |
| CN116690585B (en) * | 2023-07-25 | 2024-01-12 | 上海汇丰医疗器械股份有限公司 | Shadowless lamp path planning method and device based on automatic mechanical arm |
| CN117119646A (en) * | 2023-10-20 | 2023-11-24 | 南通医疗器械有限公司 | Shadowless lamp regulating and controlling method and system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN115811819A (en) | Intelligent shadowless lamp system of bracelet direction | |
| US11844574B2 (en) | Patient-specific preoperative planning simulation techniques | |
| US11464574B2 (en) | On-board tool tracking system and methods of computer assisted surgery | |
| CN114711969B (en) | Surgical robot system and application method thereof | |
| CN109171964B (en) | Navigation system including optical sensor and non-optical sensor | |
| JP6393319B2 (en) | System and method for interacting with objects | |
| CN109152615A (en) | The system and method for being identified during robotic surgery process and tracking physical object | |
| CN113925610A (en) | System and method for performing a procedure on a patient at a target site defined by a virtual object | |
| JP2021129984A (en) | Displaying virtual model of planned instrument attachment to ensure correct selection of physical instrument attachment | |
| US11911117B2 (en) | On-board tool tracking system and methods of computer assisted surgery | |
| US20220079687A1 (en) | Robot mounted camera registration and tracking system for orthopedic and neurological surgery | |
| AU2023200152B2 (en) | Robot mounted camera registration and tracking system for orthopedic and neurological surgery | |
| CN214857401U (en) | Integrated system structure device | |
| CN218528879U (en) | Tracking device of orthopedic surgery robot | |
| CN113974831B (en) | Medical image registration method for surgical navigation | |
| CN110063793B (en) | Positioning infrared track positioning system of DaVinci robot | |
| US12048502B2 (en) | Surgery robot system and use method therefor | |
| WO2023040897A1 (en) | Method and system for calculating spatial registration pose of surgical robot | |
| CN112807085A (en) | Integrated system structure device and control method | |
| KR20240012387A (en) | Tracker-based surgical navigation optimization |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |