CN116671945B - DSA voice control system and control method thereof - Google Patents

DSA voice control system and control method thereof Download PDF

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Publication number
CN116671945B
CN116671945B CN202310973252.1A CN202310973252A CN116671945B CN 116671945 B CN116671945 B CN 116671945B CN 202310973252 A CN202310973252 A CN 202310973252A CN 116671945 B CN116671945 B CN 116671945B
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driving piece
instruction
processor
voice
dsa
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CN116671945A (en
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黄韬
曹金磊
解菁
杨贺
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Beijing Wemed Medical Equipment Co Ltd
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Beijing Wemed Medical Equipment Co Ltd
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    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
    • G10L15/00—Speech recognition
    • G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/04—Positioning of patients; Tiltable beds or the like
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/54—Control of apparatus or devices for radiation diagnosis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/54—Control of apparatus or devices for radiation diagnosis
    • A61B6/548—Remote control of the apparatus or devices
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
    • G10L15/00—Speech recognition
    • G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
    • G10L2015/223—Execution procedure of a spoken command
    • 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
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
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  • Radiology & Medical Imaging (AREA)
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  • Heart & Thoracic Surgery (AREA)
  • Surgery (AREA)
  • Computational Linguistics (AREA)
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  • Audiology, Speech & Language Pathology (AREA)
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Abstract

The application provides a DSA voice control system and a control method thereof. The main end device comprises a processor and a voice collector, wherein the processor is configured to: and acquiring the voice command and determining the control command based on the voice command. The slave device includes a conduit bed, a DSA apparatus, and a controller, the processor further configured to: and generating working parameters corresponding to the first driving piece and/or the second driving piece based on the determined control instruction, wherein the controller is configured to control the first driving piece and/or the second driving piece to move based on the working parameters, and send feedback information generated after the first driving piece and/or the second driving piece are adjusted based on the working parameters to the processor. The DSA voice control system can control the catheter bed and the DSA equipment in the catheter room through the voice command sent by the user, so that a doctor does not need to enter the catheter room to perform an operation, the operation efficiency is greatly improved, and the operation effect is improved.

Description

DSA voice control system and control method thereof
Technical Field
The application relates to the technical field of voice control, in particular to a DSA voice control system and a control method thereof.
Background
At present, the cardiovascular and cerebrovascular minimally invasive interventional therapy is a main treatment means for cardiovascular and cerebrovascular diseases. Compared with the traditional surgery, the method has the obvious advantages of small incision, short postoperative recovery time and the like. The cardiovascular and cerebrovascular intervention operation is a treatment process by a doctor manually sending the catheter, the guide wire, the bracket and other instruments into a patient.
While DSA equipment (digital angiography) has to be used for interventional procedures. The control boxes of the existing DSA equipment are all arranged on the guide rail at the side of the guide pipe bed, and the angle of the DSA machine head, the height of the DSA flat plate, the guide pipe bed and the like are required to be frequently adjusted in operation so as to ensure that the best watching effect is obtained. During a contrast or exposure procedure, the physician typically walks out of the catheter chamber, reducing the radiation damage. However, exposure and radiography are generally performed for multiple times in the operation process, and in order to control the DSA device, a doctor must wear a lead garment to enter a catheter room for operation, and the doctor needs to switch different angles for multiple times in the operation, which leads to that the doctor must frequently enter and exit the catheter room, thus easily reducing the operation efficiency, easily causing the problems of long learning time of doctors with complicated operations of the DSA device, lack of auxiliary devices for standardized operation actions, long DSA adjusting time of doctors with insufficient experience and the like, thereby indirectly influencing the efficiency and the effect of interventional operation.
Disclosure of Invention
Aiming at the technical problems in the prior art, the application provides a DSA voice control system and a control method thereof, which can control a catheter bed and DSA equipment in a catheter room through a voice command sent by a user, so that a doctor does not need to enter the catheter room to perform an operation, thereby greatly improving the operation efficiency and the operation effect.
In a first aspect, an embodiment of the present application provides a DSA voice control system, including a master device and a slave device. The main end device is arranged in the control room and at least comprises a processor and a voice collector, wherein the voice collector is configured to: collecting voice instructions sent by a user, wherein the processor is configured to: and acquiring the voice command, and determining a control command corresponding to the voice command based on the voice command. The secondary end device is arranged in the catheter chamber and comprises a catheter bed, DSA equipment and a controller, wherein the controller is in communication connection with the processor, the catheter bed comprises a bed body and at least one first driving piece used for driving the bed body to move, the DSA equipment comprises a rotating arm and at least one second driving piece used for driving the rotating arm to move, and the controller is used for controlling the first driving piece and the second driving piece to move; the processor is further configured to: and generating working parameters corresponding to the first driving piece and/or the second driving piece based on the determined control instruction, wherein the controller is configured to receive the working parameters, control the first driving piece and/or the second driving piece to move based on the working parameters, and send feedback information generated after the first driving piece and/or the second driving piece are adjusted based on the working parameters to the processor.
In a second aspect, an embodiment of the present application provides a control method for a DSA voice control system, including: collecting a voice instruction sent by a user through a voice collector of a main terminal device; wherein the main end device is arranged in the control room; acquiring the voice command through a processor of the main terminal device, and determining a control command corresponding to the voice command based on the voice command; generating, via the processor, operating parameters corresponding to the first drive and/or the second drive of the end device based on the manipulation instructions; the slave end device is arranged in the catheter chamber and comprises a catheter bed, DSA equipment and a controller, wherein the controller is in communication connection with the processor, the catheter bed comprises a bed body and at least one first driving piece used for driving the bed body to move, the DSA equipment comprises a rotating arm and at least one second driving piece used for driving the rotating arm to move, and the controller is used for controlling the first driving piece and the second driving piece to move; and receiving the working parameters through a controller, controlling the first driving piece and/or the second driving piece to move based on the working parameters, and sending feedback information generated after the first driving piece and/or the second driving piece are adjusted based on the working parameters to the processor.
Compared with the prior art, the beneficial effects of the embodiment of the application are that: according to the control method, the main end device is placed in the control room, the auxiliary end device is placed in the guide pipe room, a user can send out a voice command in the control room, the processor can acquire the voice command and control the movement of the first driving piece and the second driving piece in the guide pipe room, so that the control of the guide pipe bed and the DSA equipment in the guide pipe room is achieved, the purpose that a doctor can perform an operation without entering the guide pipe room is achieved, the time for searching and operating the DSA equipment and the guide pipe bed to correspond to an operation rocker is saved for the user, the user does not need to operate by hand, the user directly speaks a movement purpose shell which is wanted to be achieved, the user operation is greatly simplified, clinical use is facilitated, the operation efficiency is greatly improved, and the operation effect is improved. In addition, the DSA voice control system has simple integral structure and good stability, can adopt a modularized mode, and is convenient to assemble and debug.
Drawings
In the drawings, which are not necessarily drawn to scale, like numerals may describe similar components in different views. The accompanying drawings illustrate various embodiments by way of example in general and not by way of limitation, and together with the description and claims serve to explain the disclosed embodiments. Wherever possible, the same reference numbers will be used throughout the drawings to refer to the same or like parts. Such embodiments are illustrative and not intended to be exhaustive or exclusive of the present apparatus or method.
Fig. 1 is a schematic structural diagram of a main device of a DSA voice control system according to an embodiment of the present application.
Fig. 2 is a schematic structural diagram of a slave device of the DSA voice control system according to an embodiment of the present application.
Fig. 3 is a first workflow diagram of a DSA voice control system according to an embodiment of the present application.
Fig. 4 is a second workflow diagram of a DSA voice control system according to an embodiment of the present application.
Fig. 5 is a schematic workflow diagram of an initialization operation of the DSA voice control system according to an embodiment of the present application.
Fig. 6 is a flowchart of a control method for a DSA voice control system according to an embodiment of the present application.
The reference numerals in the drawings denote components:
a 101-processor; 102-a display; 103-a voice collector; 201-a catheter bed; 202-DSA device.
Detailed Description
In order to better understand the technical solutions of the present application, the following detailed description of the present application is provided with reference to the accompanying drawings and the specific embodiments. Embodiments of the present application will now be described in further detail with reference to the accompanying drawings and specific examples, but are not intended to be limiting of the present application.
The terms "first," "second," and the like, as used herein, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises" and the like means that elements preceding the word encompass the elements recited after the word, and not exclude the possibility of also encompassing other elements. "upper", "lower", "left", "right", etc. are used merely to indicate relative positional relationships, which may also be changed when the absolute position of the object to be described is changed.
In this application, when a particular device is described as being located between a first device and a second device, there may or may not be an intervening device between the particular device and either the first device or the second device. When it is described that a particular device is connected to other devices, the particular device may be directly connected to the other devices without intervening devices, or may be directly connected to the other devices without intervening devices.
All terms (including technical or scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs unless specifically defined otherwise. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.
The embodiment of the application provides a DSA voice control system. As shown in fig. 1 and 2, the DSA voice control system includes a master device and a slave device. The main end device is arranged in the control room and at least comprises a processor 101 and a voice collector 103. As shown in fig. 3, the voice collector 103 is configured to perform step S101, namely, collect a voice command sent by a user. The processor 101 is configured to execute step S102, namely to acquire the voice command, and determine a manipulation command corresponding to the voice command based on the voice command. The slave device is arranged in the catheter chamber, the slave device comprises a catheter bed 201, a DSA device 202 and a controller which is in communication connection with the processor 101, the catheter bed 201 comprises a bed body and at least one first driving piece used for driving the bed body to move, the DSA device 202 comprises a rotating arm and at least one second driving piece used for driving the rotating arm to move, and the controller is used for controlling the first driving piece and the second driving piece to move.
Further, as shown in fig. 3, the processor 101 is further configured to execute step S103, that is, generate an operation parameter corresponding to the first driving element and/or the second driving element based on the determined manipulation instruction, and the controller is configured to execute step S104, that is, receive the operation parameter, control the movement of the first driving element and/or the second driving element based on the operation parameter, and send feedback information generated after the first driving element and/or the second driving element are adjusted based on the operation parameter to the processor 101.
Specifically, the control room and the catheter room can be understood as two independent spaces, and when a user operates in the control room, radiation caused by the operation of equipment in the catheter room can be avoided, and the safety of the user can be ensured. Wherein the user may be understood as a person operating the slave device by a doctor or the like.
Optionally, the master device may further include a display 102, where data communication between the display 102 and the processor 101 may be used for man-machine interaction, parameter setting, mode selection, and other functions. The display 102 can display the data processed by the processor 101, and after the controller sends the feedback information to the processor 101, the display 102 can present the feedback information on the display screen. The display screen may be specifically a touch screen, and the touch screen may adopt capacitive touch screen technology, so that a user may directly click on the screen.
Alternatively, the voice collector 103 may be a microphone, and is configured to collect voice commands sent by a doctor, and transmit the voice commands to the processor 101, so as to analyze and process the voice commands through the processor 101. In addition, a switch can be arranged on the microphone, and a doctor can turn on and off according to the needs.
In particular, the DSA apparatus 202 and catheter bed 201 of the above-described slave-end device can be understood as devices that directly perform surgical treatment for a patient. The catheter bed 201 is used for supporting a patient, and a plurality of groups of motors are connected inside the bed body and can move in the front-back direction, the left-right direction, the up-down direction and the like so that a doctor can see the proper position of the patient under X rays. The first driving part can be understood as the motor, and the motor can be a plurality of motors, and the motors can be matched with the motor to control the movement of the bed body.
Specifically, the DSA device 202 may be understood as a device for acquiring a vascular image of a patient, and multiple sets of motors are also disposed inside the DSA device 202, so as to drive the rotating arm to rotate at various angles, so that a doctor can find a more suitable surgical treatment position. The second driving element can be understood as the motor, and the motor can be more than one motor, and a plurality of motors are matched to control the movement of the rotating arm.
Specifically, the DSA device 202 and the catheter bed 201 may be of an all-electric configuration, i.e., the movement of the first and second drivers may be controlled by voice commands, thereby effecting control of the movement of the DSA device 202 and the catheter bed 201.
Specifically, the voice collector 103 may determine whether the user is a preset user before use, and collect the voice command sent by the user when the user is determined to be the preset user. The method for judging whether the user is the preset user can be realized by collecting voiceprints of the user, the method for judging the identity of the user is not particularly limited, and the user can be accurately identified, so that the intervention operation can be performed after the user identity identification is completed. The method can judge the identity of the user and avoid the wrong voice instruction sent by personnel irrelevant to the operation.
Specifically, the feedback information may include at least the adjusted position of the first driving element and/or the second driving element according to the working parameter, and the adjustment condition, so that the processor 101 can accurately determine the adjusted position of the first driving element and/or the second driving element.
According to the method, the main end device is placed in the control room, the auxiliary end device is placed in the catheter room, a user can send out a voice command in the control room, the processor 101 can acquire the voice command and control the movement of the first driving piece and the second driving piece in the catheter room, so that the control of the catheter bed 201 and the DSA equipment 202 in the catheter room is realized, the purpose that a doctor can perform an operation without entering the catheter room is achieved, the time for searching for the operation of the DSA equipment 202 and the corresponding operation rocking bar of the catheter bed 201 is saved for the user, the user does not need to operate by hands, the user does not need to directly say the shell of the movement purpose which is wanted, the operation of the user is greatly simplified, the clinical use is facilitated, the operation efficiency is greatly improved, and the operation effect is improved. In addition, the DSA voice control system has simple integral structure and good stability, can adopt a modularized mode, and is convenient to assemble and debug.
The overall workflow of the DSA voice control system can be divided into 3 stages, i.e., pre-operation, intra-operation and post-operation. Two main operations, i.e., a system configuration operation and a system initialization operation, are performed before an operation. The operation is mainly divided into an information input part and a motion control part. The automatic reset action is mainly executed after the operation.
The system configuration operation performed before the operation at least comprises the steps of performing sound collection and matching on the sound of the user, identifying the identity of the user, enabling the user to define a voice instruction by himself, performing default instruction parameter setting and the like so as to achieve a better effect in the operation.
The initialization operation performed before the operation refers to the registration operation of pre-collecting some information for initial center point positioning of the system after the patient is in place. The system initialization operation is automatically performed, the execution time of the initialization operation is short, and normal operation is not affected. The initialization operation of the DSA voice control system will be described in detail and will not be described in detail herein.
In the case of an intra-operative information input section, user voice instructions may be collected as input information and then passed to the processor 101 for analysis of the acquired voice instructions.
When the motion control part is performed in operation, working parameters of the first driving part and/or the second driving part can be calculated according to different control instructions generated by the processor 101, then the first driving part and/or the second driving part are controlled by the controller to complete corresponding actions, and feedback information generated after the first driving part and/or the second driving part are adjusted based on the working parameters is fed back to the processor 101.
When the automatic reset action is performed after the operation, the reset actions of the catheter bed 201 and the DSA equipment 202 after the operation are relatively fixed, and a user can set the reset positions of the catheter bed 201 and the DSA equipment 202 after the operation according to the requirements of different catheter rooms, so that the catheter bed 201 and the DSA equipment 202 after the operation can automatically finish the reset so that a patient can get off the table.
In some embodiments, as shown in fig. 4, the processor 101 is further configured to: after the voice command sent by the user is obtained, whether the voice command is matched with a preset command or not can be determined, and a control command corresponding to the voice command is determined under the condition of matching. Specifically, the processor 101 may be configured to: after the voice command is acquired, extracting key information contained in the voice command; determining that the key information is matched with a preset instruction, wherein the preset instruction is used for indicating the first driving piece and the second driving piece to move; determining a control instruction corresponding to the voice instruction based on the working parameter information related to the matched preset instruction; the main end device further comprises a memory, and the memory stores at least one preset instruction and working parameter information of the first driving piece and/or the second driving piece corresponding to the preset instruction.
Therefore, the preset instruction matched with the voice instruction can be directly determined according to the key information in the voice instruction, and the control instruction can be directly determined under the condition of matching, so that the first driving piece and/or the second driving piece can accurately move to the designated position under voice control, and the problems of movement errors of the first driving piece and/or the second driving piece and the like caused by errors of the voice instruction can be avoided.
Specifically, the key information may be related to the meaning of the preset instruction. For example, the voice command is "adjust patient to look at head position", the preset command includes a command corresponding to head position, and the key information in the voice command can be determined as "head position", and the other is non-key information. Therefore, the preset instruction matched with the extracted key information can be rapidly determined according to the extracted key information.
Specifically, the memory of the master device may store a keyword library, and after the voice command is acquired, the keyword information contained in the voice command may be determined based on the keyword library, so as to achieve the purpose of accurately extracting the keyword information.
Specifically, the preset instructions stored in the memory may be instructions corresponding to a plurality of standard positions in the operation, for example, in the coronary intervention operation, there are a plurality of positions such as a head position, a spider position, etc., and according to the accumulation of clinical data, the catheter bed 201 and the DSA device 202 have specific angles and positions, and the system will set the angles and positions as default values and store the default values in the system, that is, store the operating parameter information of the corresponding first driving member and second driving member.
Specifically, after the preset instruction is matched, the working parameter information of the first driving piece and/or the second driving piece corresponding to the preset instruction can be called in the memory, and further the controllable instruction is determined, so that the control of the first driving piece and/or the second driving piece is realized.
Specifically, the above-mentioned operating parameter information of the first driving member and/or the second driving member may be at least used to indicate a motion parameter of the driving member, such as a rotation speed, a rotation angle, etc., so as to drive the catheter bed 201 and the DSA device 202 to move to a specified position.
In some alternative embodiments, in the case that the key information included in the voice command does not match the preset command, the processor 101 does not process the voice command, and continues to wait for receiving and detecting the next voice command.
In some embodiments, as shown in fig. 4 and 5, the pre-operative DSA voice control system will perform an initialization operation, which is specifically as follows: the processor 101 is further configured to receive user-entered parameter setting information relating to at least a portion of the patient to be acquired, in the event that the patient is located on the catheter bed 201; a first control instruction for controlling the movement of the first driver is generated based on the parameter setting information so that the to-be-acquired location is located at the center of the image acquired by the DSA apparatus 202. The above-mentioned part to be acquired can be understood as a patient's patient or a part where a doctor needs to acquire an image by means of the apparatus.
Therefore, the first driving piece can be subjected to preliminary movement based on the parameter setting information, so that the aim that the part to be collected is initially positioned at the central position of the collected image is fulfilled, the image quality is improved, and a user can quickly make a corresponding treatment scheme according to the image.
Specifically, the above-described parameter setting information output by the user may be understood as parameter setting information generated by performing parameter settings such as a treatment site, a field size, an exposure parameter, and the like with the aid of the user after the patient is ready on the catheter bed 201. The above parameter setting information may be understood as parameters input by a user according to his own experience, and is aimed at enabling the portion to be collected to be located at the center of the image collected by the DSA device 202 after the patient is located on the light guiding bed.
Specifically, the first control command may be understood as driving the catheter bed 201 to move in the front-back, left-right, high-low, etc. directions via the first driving member.
The above initialization operation may be understood as a first operation step, and in order to further ensure that the part to be acquired of the patient is located at the center of the image, that is, to further improve the initialization effect, so that the part to be acquired may be located more precisely at the center of the image acquired by the DSA device 202, the present application further proposes that the above initialization operation may further include a second operation step performed after the first operation step.
The second operation step of the initialization operation is specifically as follows: the processor 101 is further configured to control the second driving element to drive the rotating arm to move after the first driving element executes the first control instruction, so that the DSA device 202 collects a plurality of calibration images; determining a second control instruction for controlling the movement of the first driving member based on the plurality of calibration images so that a part to be acquired of the patient is located at a central position of the plurality of calibration images; the memory of the master device is configured to: and storing the target position of the bed body at the central position.
In this way, the position to be acquired of the patient can be obtained to be at the central position of the image through the initialization operation, so that the target position of the bed body corresponding to the central position can be stored, and the processor 101 can calculate by taking the position as the central point in the process of acquiring the subsequent image, so that the position of the central point of the patient is unchanged when the acquisition angle of the DSA equipment 202 is switched, namely, the quality of the image acquired by the DSA equipment 202 is ensured, automatic, rapid and accurate actions can be realized, and the operation accuracy and the control speed are greatly improved compared with the manual adjustment of doctors.
Specifically, the calibration image includes at least a horizontal image in a horizontal direction and a vertical image in a vertical direction, and the processor 101 can determine an offset position, such as a left offset position, a right offset position, etc., of the to-be-collected part on the image according to the horizontal image and the vertical image, so that a position where the first driving member is controlled to move to drive the catheter bed 201 can be determined, so that the to-be-collected part can be located at a center point position of the horizontal image and the vertical image by adjusting the position of the catheter bed 201.
After the initialization operation is completed, the system adjusts the rotating arm to move to the initial position, thereby starting to enter the formal surgical treatment process.
In some embodiments, during the surgical procedure, the processor 101 is further configured to: generating first adjustment information for adjusting the working parameters of the second driving piece based on the control instruction; acquiring central point position information corresponding to a target position of the bed body; determining second adjustment information for adjusting the working parameters of the first driving piece based on the center point position information and the first adjustment information; and after the first driving piece is adjusted based on the second adjustment information and the second driving piece is adjusted based on the first adjustment information, receiving feedback information generated by the first driving piece and the second driving piece.
The above-mentioned adjusting the motion position of the catheter bed 201 based on the central point position information and the first adjusting information can realize that the moving position of the catheter bed 201 can ensure that the position to be collected is at the central position of the image after the rotation of the rotating arm, and avoid the problem that the position to be collected is not at the central position of the image caused by the rotation of the rotating arm. Therefore, the automatic, rapid and accurate action can be realized, the operation accuracy and the control speed are greatly improved compared with the manual regulation of doctors, and the operation efficiency can be improved.
For example, in the case that the received voice command includes a spider bit, the processor 101 determines the working parameter of the second driving member that drives the rotating arm to move under the spider bit, that is, calculates the rotation speed, the rotation angle, and other parameters of the second driving member. And then, based on the central information of the target position of the bed body under the central position and the first adjustment information for adjusting the second driving piece, the position of the catheter bed 201 which enables the part to be collected to be always kept at the central position of the image can be determined, namely, the position where the second driving piece drives the catheter bed 201 to move is determined, so that the image of the part to be collected at the central position of the image can be obtained.
In some embodiments, the processor 101 is further configured to: judging whether collision information corresponding to the slave device is generated or not in the process of adjusting the first driving piece and/or the second driving piece based on the working parameters; and if yes, stopping the operation of the first driving piece and the second driving piece.
Therefore, under the condition that the movement of the bed body and the movement of the rotating arm collide, the movement of the bed body and the movement of the rotating arm can be stopped in time, the collision is avoided, and the aim of protecting the safety of patients and equipment is fulfilled.
Specifically, the collision information may be generated by the processor 101, or may be detected by another detection module. For example, when the movement of the bed and/or the rotating arm encounters an obstacle, the movement cannot be continued, and at this time, the processor 101 may determine that the first driving member and/or the second driving member collides, so that the movement cannot be continued. For another example, the slave device may further include a collision detection module communicatively coupled to the processor 101, the collision detection module being configured to generate the collision information when a collision of the first driver and/or the second driver is detected.
Specifically, when the first driving member and the second driving member stop after the collision, the real-time position information of the first driving member and the second driving member at this time may be fed back to the processor 101, and the processor 101 may send the real-time position information to the display 102, so as to display the movement condition and the position information of the first driving member and the second driving member via the display 102.
In some embodiments, the processor 101 is further configured to:
receiving specific instruction information input by a user and specific working parameter information of a first driving piece and/or a second driving piece corresponding to the specific instruction information;
generating a specific instruction based on the specific instruction information and specific operating parameter information;
the memory is configured to: and storing the specific instruction as the preset instruction.
Therefore, the user can set the specific instruction according to the user, so that the requirement of different users on personalized operation modes is met, and the method can adapt to the personalized requirements of different users.
In particular, the above specific instruction information may be understood as a non-standardized term, which is set by a user according to his own habit, whereby a specific instruction corresponding to the user may be called from a memory when the user uses the specific instruction to adjust the motion of the slave device according to the specific instruction.
In some embodiments, the processor 101 is further configured to: determining a reset instruction to end the movement of the slave device based on the voice instruction;
the first driving piece and the second driving piece of the slave end device receive the reset instruction and drive the bed body and the rotating arm to move to an initial position.
Therefore, after the operation is finished, the bed body and the rotating arm of the slave end device can be automatically reset, the operation ending process can be automatically finished under the control of the processor 101, the multi-step operation of a doctor is reduced, and the operation efficiency is improved.
In particular, and with reference to fig. 4, the above determination of ending the movement of the slave device may be interpreted as having completed the procedure, at which time the bed and the swivel arm may be moved to an initial position.
Optionally, the voice command may include end information indicating that the operation is completed, for example, the voice command includes end information such as "operation end", "operation completed", etc. After determining that the above-mentioned end information is included in the voice command, the processor 101 may determine a reset command for ending the movement of the slave device, that is, a command for determining that the operation is completed, and at this time, the first driving part and the second driving part of the slave device may respectively drive the bed body and the rotating arm to reset to the initial positions.
In some other embodiments, the master device may also be provided with a key, which the user may trigger to effect sending of the end-of-surgery signal. The processor 101 resets the control bed and the rotating arm based on the end of surgery signal.
Specifically, after receiving the instruction to end the operation, the processor 101 will first lock the exposure action of the DSA device 202, so that it can be ensured that a doctor or other personnel touches the pedal of the DSA device 202 by mistake, and radiation injury of the DSA device 202 to the human body is reduced.
The embodiment of the application also provides a control method for the DSA voice control system. As shown in fig. 6, the control method for the DSA voice control system includes steps S201 to S204.
Step S201: collecting a voice instruction sent by a user through a voice collector 103 of the main terminal device; wherein, the main end device is arranged in the control room.
Step S202: the voice command is acquired via the processor 101 of the master device, and a manipulation command corresponding to the voice command is determined based on the voice command.
Step S203: generating, via the processor 101, operating parameters corresponding to the first drive and/or the second drive of the end device based on the manipulation instructions; the slave device is arranged in the catheter chamber, and comprises a catheter bed 201, a DSA device 202 and a controller which is in communication connection with the processor 101, wherein the catheter bed 201 comprises a bed body and at least one first driving piece used for driving the bed body to move, the DSA device 202 comprises a rotating arm and at least one second driving piece used for driving the rotating arm to move, and the controller is used for controlling the first driving piece and the second driving piece to move.
Step S204: and receiving the working parameters through a controller, controlling the first driving piece and/or the second driving piece to move based on the working parameters, and sending feedback information generated by the first driving piece and/or the second driving piece after the first driving piece and/or the second driving piece are adjusted based on the working parameters to the processor 101.
According to the method, the main end device is placed in the control room, the auxiliary end device is placed in the catheter room, a user can send out a voice command in the control room, the processor 101 can acquire the voice command and control the movement of the first driving piece and the second driving piece in the catheter room, so that the control of the catheter bed 201 and the DSA equipment 202 in the catheter room is realized, the purpose that a doctor can perform an operation without entering the catheter room is achieved, the time for searching for the operation of the DSA equipment 202 and the corresponding operation rocking bar of the catheter bed 201 is saved for the user, the user does not need to operate by hands, the user does not need to directly say the shell of the movement purpose which is wanted, the operation of the user is greatly simplified, the clinical use is facilitated, the operation efficiency is greatly improved, and the operation effect is improved. In addition, the DSA voice control system has simple integral structure and good stability, can adopt a modularized mode, and is convenient to assemble and debug.
In some embodiments, the control method further comprises: after the voice instruction is acquired, extracting key information contained in the voice instruction through the processor 101;
determining, via the processor 101, that the key information matches a preset instruction for instructing the first and second drivers to move;
determining, via the processor 101, a manipulation instruction corresponding to the voice instruction based on the operating parameter information related to the matched preset instruction;
the main end device further comprises a memory, and the memory stores at least one preset instruction and working parameter information of the first driving piece and/or the second driving piece corresponding to the preset instruction.
In some embodiments, the control method further comprises: receiving, via the processor 101, user-entered parameter setting information relating to at least a portion of the patient to be acquired with the patient on the catheter bed 201; a first control instruction for controlling the movement of the first driver is generated based on the parameter setting information so that the to-be-acquired location is located at the center of the image acquired by the DSA apparatus 202.
In some embodiments, the control method further comprises: after the processor 101 executes the first control instruction by the first driving piece, controlling the second driving piece to drive the rotating arm to move, so that the DSA device 202 collects a plurality of calibration images; determining a second control instruction for controlling the movement of the first driving member based on the plurality of calibration images so that a part to be acquired of the patient is located at a central position of the plurality of calibration images; the memory of the master device is configured to: and storing the target position of the bed body at the central position.
In some embodiments, the control method further comprises: generating, via the processor 101, first adjustment information for adjusting an operating parameter of the first driver based on the manipulation instruction; acquiring central point position information corresponding to a target position of the bed body; determining second adjustment information for adjusting the working parameters of the second driving piece based on the center point position information and the first adjustment information; and after the first driving piece is adjusted based on the first adjustment information and the second driving piece is adjusted based on the second adjustment information, receiving feedback information generated by the first driving piece and the second driving piece.
In some embodiments, the control method further comprises: judging, via the processor 101, whether collision information corresponding to the slave device is generated or not in the process of the first driver and/or the second driver being adjusted based on the operation parameter; and if yes, stopping the operation of the first driving piece and the second driving piece.
In some embodiments, the control method further comprises: receiving specific instruction information input by a user and specific operating parameter information of a first driving piece and/or a second driving piece corresponding to the specific instruction information via the processor 101; generating a specific instruction based on the specific instruction information and specific operating parameter information; the memory is configured to: and storing the specific instruction as the preset instruction.
In some embodiments, the control method further comprises: determining, via the processor 101, a reset instruction to end movement of the slave device based on the voice instruction; the first driving piece and the second driving piece of the slave end device receive the reset instruction and drive the bed body and the rotating arm to move to an initial position.
Furthermore, although exemplary embodiments have been described herein, the scope thereof includes any and all embodiments having equivalent elements, modifications, omissions, combinations (e.g., of the various embodiments across), adaptations or alterations as pertains to the present application. Elements in the claims are to be construed broadly based on the language employed in the claims and are not limited to examples described in the present specification or during the practice of the present application, which examples are to be construed as non-exclusive.
The above description is intended to be illustrative and not restrictive. For example, the above-described examples (or one or more aspects thereof) may be used in combination with each other. For example, other embodiments may be used by those of ordinary skill in the art upon reading the above description. In addition, in the above detailed description, various features may be grouped together to streamline the application. This is not to be interpreted as an intention that the disclosed features not being claimed are essential to any claim. Rather, the subject matter of the present application is capable of less than all of the features of a particular disclosed embodiment. Thus, the following claims are hereby incorporated into the detailed description as examples or embodiments, with each claim standing on its own as a separate embodiment, and it is contemplated that these embodiments may be combined with one another in various combinations or permutations. The scope of the application should be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled.
The above embodiments are only exemplary embodiments of the present application and are not intended to limit the present application, the scope of which is defined by the claims. Various modifications and equivalent arrangements may be made to the present application by those skilled in the art, which modifications and equivalents are also considered to be within the scope of the present application.

Claims (7)

1. A DSA voice control system, comprising:
the main end device is arranged in the control room and at least comprises a processor and a voice collector, wherein the voice collector is configured to: collecting voice instructions sent by a user, wherein the processor is configured to: acquiring the voice command and determining a control command corresponding to the voice command based on the voice command;
a slave end device arranged in the catheter chamber, the slave end device comprising a catheter bed, a DSA device and a controller, wherein the controller is in communication connection with the processor, the catheter bed comprises a bed body and at least one first driving piece used for driving the bed body to move, the DSA device comprises a rotating arm and at least one second driving piece used for driving the rotating arm to move, and the controller is used for controlling the first driving piece and the second driving piece to move; wherein the control chamber and the conduit chamber are two independent spaces;
the processor is further configured to: generating working parameters of the first driving piece and/or the second driving piece based on the determined control instruction, wherein the controller is configured to receive the working parameters, control the first driving piece and/or the second driving piece to move based on the working parameters, and send feedback information generated after the first driving piece and/or the second driving piece are adjusted based on the working parameters to the processor;
the processor is further configured to:
after the voice command is acquired, extracting key information contained in the voice command;
determining that the key information is matched with a preset instruction, wherein the preset instruction is used for indicating the first driving piece and the second driving piece to move, and the key information is related to the meaning of the preset instruction;
determining a control instruction corresponding to the voice instruction based on the working parameter information related to the matched preset instruction;
the main end device further comprises a memory, wherein the memory stores at least one preset instruction, and the preset instruction comprises working parameter information of the first driving piece and/or the second driving piece;
receiving specific instruction information input by a user and specific working parameter information of the first driving piece and/or the second driving piece;
generating a specific instruction based on the specific instruction information and specific operating parameter information;
the memory is configured to: and storing the specific instruction as the preset instruction.
2. The DSA voice control system of claim 1, wherein the processor is further configured to:
receiving user-entered parameter setting information in the case of a patient being located on the catheter bed, the parameter setting information being related to at least a portion of the patient to be acquired;
and generating a first control instruction for controlling the movement of the first driving piece based on the parameter setting information so that the part to be acquired is positioned at the center of the image acquired by the DSA equipment.
3. The DSA voice control system of claim 2, wherein the processor is further configured to:
after the first driving piece executes the first control instruction, the second driving piece is controlled to drive the rotating arm to move, so that the DSA equipment acquires a plurality of calibration images;
determining a second control instruction for controlling the movement of the first driving member based on the plurality of calibration images so that a part to be acquired of the patient is located at a central position of the plurality of calibration images;
the memory of the master device is configured to: and storing the target position of the bed body at the central position.
4. The DSA voice control system of claim 3, wherein the processor is further configured to:
generating first adjustment information for adjusting the working parameters of the second driving piece based on the control instruction;
acquiring central point position information corresponding to a target position of the bed body;
determining second adjustment information for adjusting the working parameters of the first driving piece based on the center point position information and the first adjustment information;
and after the first driving piece is adjusted based on the second adjustment information and the second driving piece is adjusted based on the first adjustment information, receiving feedback information generated by the first driving piece and the second driving piece.
5. The DSA voice control system of claim 1 or 4, wherein the processor is further configured to: judging whether collision information corresponding to the slave device is generated or not in the process of adjusting the first driving piece and/or the second driving piece based on the working parameters;
and if yes, stopping the operation of the first driving piece and the second driving piece.
6. The DSA voice control system of claim 1, wherein the processor is further configured to: determining a reset instruction to end the movement of the slave device based on the voice instruction;
the first driving piece and the second driving piece of the slave end device receive the reset instruction and drive the bed body and the rotating arm to move to an initial position.
7. A control method for a DSA voice control system, comprising:
collecting a voice instruction sent by a user through a voice collector of a main terminal device; wherein the main end device is arranged in the control room;
acquiring the voice command through a processor of the main terminal device, and determining a control command corresponding to the voice command based on the voice command;
generating, via the processor, operating parameters of the first driver and/or the second driver of the slave device based on the manipulation instruction; the slave end device is arranged in the catheter chamber and comprises a catheter bed, DSA equipment and a controller, wherein the controller is in communication connection with the processor, the catheter bed comprises a bed body and at least one first driving piece used for driving the bed body to move, the DSA equipment comprises a rotating arm and at least one second driving piece used for driving the rotating arm to move, and the controller is used for controlling the first driving piece and the second driving piece to move;
receiving the working parameters through a controller, controlling the first driving piece and/or the second driving piece to move based on the working parameters, and sending feedback information generated after the first driving piece and/or the second driving piece are adjusted based on the working parameters to the processor;
the control method further includes:
after the voice instruction is acquired, extracting key information contained in the voice instruction through the processor;
determining, via the processor, that the key information matches a preset instruction, the preset instruction being for instructing the first and second drivers to move, wherein the key information is related to the meaning of the preset instruction;
determining a control instruction corresponding to the voice instruction based on the matched working parameter information related to the preset instruction through the processor;
the main end device further comprises a memory, wherein the memory stores at least one preset instruction, and the preset instruction comprises working parameter information of the first driving piece and/or the second driving piece;
receiving specific instruction information input by a user and specific working parameter information of the first driving piece and/or the second driving piece through the processor;
generating, via the processor, a specific instruction based on the specific instruction information and specific operating parameter information;
the specific instruction is stored as the preset instruction via the memory.
CN202310973252.1A 2023-08-04 2023-08-04 DSA voice control system and control method thereof Active CN116671945B (en)

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