CN207399401U - remote operation monitoring system - Google Patents
remote operation monitoring system Download PDFInfo
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- CN207399401U CN207399401U CN201721396359.0U CN201721396359U CN207399401U CN 207399401 U CN207399401 U CN 207399401U CN 201721396359 U CN201721396359 U CN 201721396359U CN 207399401 U CN207399401 U CN 207399401U
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Abstract
The utility model proposes a kind of remote operation monitoring system, including remote port part, live end part and network transmission device；Remote port part includes：Instruction inputting device, input control instruction；First display device, to receive the video image of network transmission device transmission and be shown；Live end point includes：First video capture device, the first mark part, implementation of performing the operation, the second mark part, binocular vision system and controller；First video capture device is to floor scene, and by the transmission of video images of generation to the first display device；First mark part is arranged in the first video capture device, and the second mark part is arranged in operation implementation；Binocular vision system determines the first video capture device, the spatial position for implementation of performing the operation to detect the first mark part, the second mark part；Controller controls operation implementation to be adjusted into row position according to control instruction.It can realize the remote control of operation, it is more convenient.
Description
Technical field
The utility model is related to technical field of long-distance medical more particularly to a kind of remote operation monitoring systems.
Background technology
At present, Tele medicine develops to from initial TV monitoring, telephone remote diagnosis and utilizes express network
Number, image, the comprehensive transmission of voice are carried out, and realizes exchanging for real-time voice and HD image, is cured to be modern
Application provides broader development space.Remote system more at present is typically limited to teaching, training, hospital bed monitoring
Etc., it is impossible to effective remote control is carried out, expert can only go to operative site and carry out Operating Guideline, very inconvenient, just
Consultation fee is also excessively high, if can remotely be manipulated just can overcome the problems, such as this.
Utility model content
The technical problem to be solved by the utility model is to provide a kind of remote operation monitoring systems, can realize operation
Remote control, it is more convenient.
To solve the above problems, the utility model proposes a kind of remote operation monitoring system, including remote port part, scene
End part and be connected between remote port part, live end point to the network transmission device that communicates；
The remote port part includes：Instruction inputting device is instructed to input control, and filled by the network transmission
Put the transmission control instruction；First display device, to receive the video image of the network transmission device transmission and progress
Display；
The scene end point includes：First video capture device, the first mark part, implementation of performing the operation, the second mark
Part, binocular vision system and controller；First video capture device is to floor scene, and by the video figure of generation
As being transmitted to first display device by the network transmission device；
The first mark part is arranged in first video capture device, and the second mark part is arranged on the hand
In art implementation；The binocular vision system determines described first to detect the first mark part, the second mark part
The spatial position of video capture device, implementation of performing the operation；The controller connection operation implementation, to be referred to according to control
The order control operation implementation is adjusted into row position.
One embodiment according to the present utility model, described instruction input unit are the first voice input device；It is described existing
Field end further includes the first apparatus for receiving audio, connects the controller；The control instruction be audio instructions, first sound
Frequency receiver receives the audio instructions of the network transmission device transmission and is transmitted to the controller.
One embodiment according to the present utility model, the binocular vision system connects the controller, by described first
Video capture device, the spatial position data for implementation of performing the operation are transmitted to the controller；The controller is according to the sky
Between position data, control it is described operation implementation compared with the first video capture device spatial position into row position adjust.
One embodiment according to the present utility model, the scene end further include the first audio input-output device, use
To input or export voice data；The remote port part further includes the second audio input-output device, to input or export
Voice data；First audio input-output device and the second audio input-output device are passed by the network transmission device
Transfer audio data.
One embodiment according to the present utility model, the remote port part further includes the second video capture device, described
Live end further includes the second display device；Second video capture device is shooting remote scene, and regarding generation
Frequency image is transmitted to second display device by the network transmission device.
One embodiment according to the present utility model, first video capture device include：One photographic device, arrangement
For towards surgical scene；Alternatively, at least two photographic devices, are arranged as from different perspectives towards surgical scene.
One embodiment according to the present utility model is both provided with the first mark part on each photographic device.
One embodiment according to the present utility model, the operation implementation include mechanical arm and are fixed on the machinery
The operation tool of the end of arm；The controller control the action of the mechanical arm and to the operation tool into row position tune
It is whole.
One embodiment according to the present utility model, the second mark part are relatively fixed with the operation tool.
One embodiment according to the present utility model, the first mark part and the second mark part are reflective marker part.
After adopting the above technical scheme, the utility model has the advantages that compared with prior art：
Telecommunication is realized by network transmission device, can be transmitted after the first video capture device floor scene
It is shown to long-range first display device, remote monitoring site scene is realized, so as to according to field scene actual conditions
Correctly control will woods is provided, instruction inputting device is transferred to live controller, control after receiving externally input control instruction
Device processed is so as to the position adjustment of the operation implementation at control instruction control scene come according to long-range；Pass through binocular vision system
The first mark part of system detection and the second mark part, the first video capture device and operation that can obtain operative site scene are implemented
The spatial relation of device, so as to obtain the orientation at scene so that operation implementation can be according to the orientation at scene
It is adjusted into row position；It can realize the remote control of expert, without operation of being in the action, be more convenient.
Description of the drawings
Fig. 1 is the structure diagram of the remote operation monitoring system of one embodiment of the utility model；
Fig. 2 is the structure diagram of the remote operation monitoring system of another embodiment of the utility model.
Description of symbols in figure：
1- remote ports part, 2- scenes end part, 3- network transmission devices, 11- instruction inputting devices, 11 '-the first audios
Input unit, the first display devices of 12-, the second audio input-output devices of 13-, the second video capture devices of 14-, 21- first
Video capture device, 22- first mark part, 23- operation implementations, and 24- second marks part, 25- binocular vision systems, 26-
Controller, the first apparatus for receiving audio of 27-, the first audio input-output devices of 28-, the second display devices of 29-.
Specific embodiment
To enable the above-mentioned purpose of the utility model, feature and advantage more obvious understandable, below in conjunction with the accompanying drawings to this
The specific embodiment of utility model is described in detail.
Many details are elaborated in the following description in order to fully understand the utility model.But this practicality is new
Type can be much to implement different from other manner described here, and those skilled in the art can be new without prejudice to this practicality
Similar popularization is done in the case of type intension, therefore the utility model is from the limitation of following public specific implementation.
Referring to Fig. 1, in one embodiment, remote operation monitoring system include remote port part 1, live end part 2 and
Be connected between remote port part 1, live end part 2 to the network transmission device 3 that communicates.Remote operation monitoring system example
It can such as be used in bone surgery, for realizing the bore position of remote control scene operation tool positioning etc..
Network transmission device 3 is the device for realizing telecommunication, and the routing that can include at the scene part 2 being held to configure is set
The standby, routing device that is configured in remote port part 1 and the wired or wireless circuit that is connected to two routing equipment rooms etc., specifically not
Limit, as long as being that by communicating between remote port part 1, live end part 2.Remote port part 1, live end part 2
The middle device for needing to carry out remote data transmission can connect network transmission device 3, be transferred to pair by network transmission device 3
Side.
Remote port part 1 includes：11 and first display device 12 of instruction inputting device.Live end part 2 includes：First regards
Frequency filming apparatus 21, the first mark part 22, implementation 23 of performing the operation, the second mark part 24, binocular vision system 25 and controller
26。
Instruction inputting device 11 instructs to input control, and passes through network transmission device 3 and transmit control instruction, the instruction
Input unit 11 can be arbitrarily can input instruction device, such as keyboard, mouse, boundary's operating surface, audio input etc., control refers to
Depending on the form of order is also according to the type of instruction inputting device 11.
First display device 12 is connected with network transmission device 3, to receive the video image of the transmission of network transmission device 3
And shown, the first display device 12 can be the device with video image caching function, such as can be that computer is set
It is standby etc., it is specific unlimited.
First video capture device 21 is arranged on operative site, connects network transmission device 3, to floor scene,
And the video image of generation is transmitted to the first display device 12 by network transmission device 3, it can realize that remote playing is performed the operation
The scene at scene.
First mark part 22 is arranged in the first video capture device 21, and the second mark part 24 is arranged on operation implementation
On 23, so as to which the position of the first mark part 22 represents the position of the first video capture device 21, the position of the second mark part 24
Represent the position of operation implementation 23.Binocular vision system 25 marks part 24 to detect the first mark part 22, second, and
Determine the first video capture device 21, the spatial position for implementation 23 of performing the operation.First mark part 22 and second mark part 24 be
The mark part that can be identified by binocular vision system 25 marks part 24 as target object, inspection using the first mark part 22, second
It is more accurate convenient to survey.
The connection operation implementation 23 of controller 26, certainly, controller 26 can be with direct or indirect connection network transmission
Device 3 receives control instruction.Controller 26 to according to control instruction control operation implementation 23 into row position adjust.
Binocular vision system 25 is a kind of existing stereo visual system, by from two different angle acquisitions same three
The two dimensional image of target object is tieed up, according to triangulation principle, the distance that target object is obtained from two width two dimensional images is believed
Breath, obtains the location information of the target in three-dimensional scenic.Target first is thus detected by binocular vision system and marks 22 He of part
Second mark part 24 can obtain the three dimensional local information of the first mark part 22 and the second mark part 24, also just obtain first
The first video capture device 21 and the space bit confidence of operation implementation 23 that the mark mark part 24 of part 22 and second is marked
Breath.This spatial positional information can be as the direction reference adjusted to operation implementation 23 into row position.It can be by space
The first display device 12 that location information is sent to remote port part is shown, required adjustment is carried out as remote operator
The judgement in direction, however provide the control instruction of orientation adjustment；Spatial positional information can also be sent to the controller at scene
26, when control instruction adjusts position using spatial positional information as direction reference.
Telecommunication is realized by network transmission device 3, it can be with after 21 floor scene of the first video capture device
It is transferred to long-range first display device 12 to be shown, realizes remote monitoring site scene, so as to real according to field scene
Border situation provides correct control instruction, and instruction inputting device 11 is transferred to live control after receiving externally input control instruction
Device 26 processed, controller 26 is so as to the position adjustment of the operation implementation 23 at control instruction control scene come according to long-range；
Part 24 is marked by the detection of binocular vision system 25 first mark part 22 and second, can obtain operative site scene first regards
The spatial relation of frequency filming apparatus 21 and operation implementation 23, so as to obtain the orientation at scene so that operation is real
Applying device 23 can adjust according to the orientation at scene into row position；The remote control of expert can be realized, without the behaviour that is in the action
Make, be more convenient.
Optionally, control instruction can control the movement of operation implementation 23 incessantly, can also be used to control the certainly
The position of one video capture device 21 is adjusted, picture switching etc. is unlimited.
Preferably, referring to Fig. 1 and Fig. 2, instruction inputting device 11 is the first voice input device 11 '.It also wraps live end
The first apparatus for receiving audio 27 is included, connects controller.Control instruction is audio instructions, and the first apparatus for receiving audio 27 receives network
The audio instructions of the transmission of transmitting device 3 are simultaneously transmitted to controller 26.Audio instructions are most convenient efficiently instruction modes, are being handled
In speed more rapidly.First apparatus for receiving audio 27 can be speech recognizing device, and audio instructions identification is resolved to data refers to
Controller 26 is transferred to after order.
Preferably, binocular vision system 25 connects controller 26, by the first video capture device 21, operation implementation 23
Spatial position data be transmitted to controller 26.Controller 26 is according to spatial position data, and control operation implementation 23 is relatively
It is adjusted in the spatial position of the first video capture device 21 into row position.It need to only be clapped in long-range according to the first video capture device 21
The orientation input control instruction taken the photograph, can be using the spatial position of the first video capture device 21 as reference in controller 26
Object adjusts operation implementation 23 into row position.
In one embodiment, referring to Fig. 2, live end 2 can also include the first audio input-output device 28, to
Input or output voice data；Remote port part 1 can also include the second audio input-output device 13, to input or export
Voice data.First audio input-output device 28 and the second audio input-output device 13 are transmitted by network transmission device 3
Voice data.
First audio input-output device 28 and the second audio input-output device 13, the first voice input device 11 ' and
First apparatus for receiving audio 27 is two sets of discrete voice systems, between each other not interfering with an opponent, the first voice input device
11 ' and first apparatus for receiving audio 27 be used alone to carry out instruction control, and the first audio input-output device 28 and the second sound
Frequency input/output unit 13 can then be used for realizing scene and the speech exchange of remote personnel so that exchange and control separate, and keep away
Exempt from control etc. by mistake.
In one embodiment, with continued reference to Fig. 2, live end 2 can also include the second display device 29, long-range end
Divide and further include the second video capture device 14.Second video capture device 14 is to shoot remote scene, and by the video of generation
Image is transmitted to the second display device 29 by network transmission device 3.The scene of long-range end 1 can also be showed live end
Portion 2.
Preferably, the first video capture device 21 can include：One photographic device, is arranged towards surgical scene.Or
Person, the first video capture device 21 can include：At least two photographic devices are arranged as from different perspectives towards surgical scene,
The video image of shooting can be shown in the first display device, realize the multi-faceted observation of operative site.Second video capture
Device 14 can be but specific unlimited only there are one photographic device.
Preferably, the first mark part 22 is both provided on each photographic device, so as to which binocular vision system 25 can detect
To the position of each photographic device, realize that the spatial position of various pieces in surgical scene is unified.
Preferably, implementation 23 of performing the operation includes mechanical arm and is fixed on the operation tool of the end of mechanical arm；Controller
The action of 26 control machinery arms and to operation tool into row position adjust, mechanical arm can be the machinery of existing controllable action
Arm.Second mark part is relatively fixed with operation tool, such as can also be fixed on the end of mechanical arm.
Preferably, it is reflective marker part that the first mark part 22 and second, which marks part 24, such as can be reflective labeling, best
It is recognizable.
Although the utility model is disclosed as above with preferred embodiment, it is not for limiting claim, Ren Heben
Field technology personnel without departing from the spirit and scope of the utility model, can make possible variation and modification, therefore
The scope of protection of the utility model should be subject to the scope that the utility model claims are defined.
Claims (10)
1. a kind of remote operation monitoring system, which is characterized in that including remote port part, live end part and be connected to remote port
Partly, between live end point to the network transmission device that communicates；
The remote port part includes：Instruction inputting device instructs to input control, and passes through the network transmission device and pass
The defeated control instruction；First display device, to receive the video image of the network transmission device transmission and be shown；
The scene end point includes：First video capture device, the first mark part, implementation of performing the operation, the second mark part are double
Mesh vision system and controller；First video capture device leads to the video image of generation to floor scene
It crosses the network transmission device and is transmitted to first display device；
The first mark part is arranged in first video capture device, and it is real that the second mark part is arranged on the operation
It applies on device；The binocular vision system determines first video to detect the first mark part, the second mark part
The spatial position of filming apparatus, implementation of performing the operation；The controller connection operation implementation, to according to control instruction control
The operation implementation is made to adjust into row position.
2. remote operation monitoring system as described in claim 1, which is characterized in that described instruction input unit is the first audio
Input unit；The scene end further includes the first apparatus for receiving audio, connects the controller；The control instruction is audio
Instruction, first apparatus for receiving audio receive the audio instructions of the network transmission device transmission and are transmitted to the control
Device.
3. remote operation monitoring system as described in claim 1, which is characterized in that the binocular vision system connects the control
The spatial position data of first video capture device, implementation of performing the operation is transmitted to the controller by device processed；The control
Device processed controls spatial position of the operation implementation compared with the first video capture device according to the spatial position data
It is adjusted into row position.
4. remote operation monitoring system as described in claim 1, which is characterized in that the scene end further includes the first audio
Input/output unit, to input or export voice data；The remote port part further includes the second audio input-output device,
To input or export voice data；First audio input-output device and the second audio input-output device pass through described
Network transmission device transmits voice data.
5. remote operation monitoring system as described in claim 1, which is characterized in that the remote port part further includes second and regards
Frequency filming apparatus, the scene end further include the second display device；Second video capture device is shooting remote field
Scape, and the video image of generation is transmitted to second display device by the network transmission device.
6. the remote operation monitoring system as described in any one in claim 1-5, which is characterized in that first video is clapped
Taking the photograph device includes：One photographic device, is arranged towards surgical scene；Alternatively, at least two photographic devices, are arranged as from difference
Angle is towards surgical scene.
7. remote operation monitoring system as claimed in claim 6, which is characterized in that be both provided on each photographic device described
First mark part.
8. the remote operation monitoring system as described in any one in claim 1-5, which is characterized in that dress is implemented in the operation
Put the operation tool including mechanical arm and the end for being fixed on the mechanical arm；The controller controls the action of the mechanical arm
And the operation tool is adjusted into row position.
9. remote operation monitoring system as claimed in claim 8, which is characterized in that the second mark part and the operation work
Tool is relatively fixed.
10. the remote operation monitoring system as described in any one in claim 1-5, which is characterized in that first mark
Part and the second mark part are reflective marker part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721396359.0U CN207399401U (en) | 2017-10-26 | 2017-10-26 | remote operation monitoring system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721396359.0U CN207399401U (en) | 2017-10-26 | 2017-10-26 | remote operation monitoring system |
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| CN207399401U true CN207399401U (en) | 2018-05-22 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109129471A (en) * | 2018-08-03 | 2019-01-04 | 江苏大学 | A kind of long-range gestural control system and method for the robot device for medical field |
| CN113079314A (en) * | 2021-03-04 | 2021-07-06 | 首都医科大学附属北京安贞医院 | Visual guide target of operation video acquisition system |
| CN114842704A (en) * | 2022-05-10 | 2022-08-02 | 上海微创医疗机器人（集团）股份有限公司 | Training system and training method |
-
2017
- 2017-10-26 CN CN201721396359.0U patent/CN207399401U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109129471A (en) * | 2018-08-03 | 2019-01-04 | 江苏大学 | A kind of long-range gestural control system and method for the robot device for medical field |
| CN113079314A (en) * | 2021-03-04 | 2021-07-06 | 首都医科大学附属北京安贞医院 | Visual guide target of operation video acquisition system |
| CN113079314B (en) * | 2021-03-04 | 2022-09-02 | 首都医科大学附属北京安贞医院 | Visual guide target of operation video acquisition system |
| CN114842704A (en) * | 2022-05-10 | 2022-08-02 | 上海微创医疗机器人（集团）股份有限公司 | Training system and training method |
| CN114842704B (en) * | 2022-05-10 | 2024-03-29 | 上海微创医疗机器人（集团）股份有限公司 | Training system and training method |
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