CN103654967A - Speech-controlled auxiliary imaging device for minimally invasive operations - Google Patents
Speech-controlled auxiliary imaging device for minimally invasive operations Download PDFInfo
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- CN103654967A CN103654967A CN201310652141.7A CN201310652141A CN103654967A CN 103654967 A CN103654967 A CN 103654967A CN 201310652141 A CN201310652141 A CN 201310652141A CN 103654967 A CN103654967 A CN 103654967A
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Abstract
The invention relates to the technical field of minimally invasive operation auxiliary equipment design, in particular to a speech-controlled auxiliary imaging device for minimally invasive operations. The speech-controlled auxiliary imaging device comprises a speech acquisition module, a speech identification module and an executive module. The speech acquisition module is used for collecting speech command signals of an operating surgeon and outputting the collected speech signals to the speech identification module. The speech identification module is used for analyzing and processing the speech signals and then outputting control signals to a control interface circuit in the executive module. The control interface circuit is used for controlling a mechanical arm in the executive module to move up and down and left and right. The mechanical arm is used for holding an endoscope. The endoscope is used for collecting and outputting images to a display. According to the speech-controlled auxiliary imaging device, movement of the mechanical arm is controlled through speech. On one hand, the accuracy of the movement of the mechanical arm is improved; on the other hand, influences of human factors caused by an operator holding the endoscope on operation performed by the operating surgeon is reduced. Meanwhile, the mechanical arm will not fatigue and shake after holding the endoscope for a long time.
Description
Technical field
The present invention relates to Minimally Invasive Surgery auxiliary facilities design field, particularly the auxiliary imaging device of the voice-operated Minimally Invasive Surgery of a kind of employing.
Background technology
Minimally Invasive Surgery has that wound is little, patient is easier to the advantages such as recovery, and along with the development of medical endoscope technology, Minimally Invasive Surgery is more and more widely used.Doctor is when carrying out Minimally Invasive Surgery in operator, because the field of view of Minimally Invasive Surgery is narrow and small, operative region is dumb, makes the difficulty of Minimally Invasive Surgery far away higher than general surgery.In order to facilitate the carrying out of Minimally Invasive Surgery, traditional way is all with one, to hold mirror operation teacher to coordinate operator doctor, by holding the mirror operation hand-held endoscope of teacher, the image in corrective surgery region is amplified and is presented on display, convenient operator doctor performs the operation.This way exists following not enough: want to make operation to reach desirable effect, need to hold mirror operation teacher and operator doctor and reach tacit agreement long-term cooperation; And hold mirror operation teacher and grip for a long time endoscope and can produce fatigue, hands can be shaken, and affects imaging effect.
Summary of the invention
The object of the present invention is to provide the voice-operated Minimally Invasive Surgery of a kind of employing to assist imaging device, the doctor that makes to operate can control the action of holding mirror mechanical arm by voice, the inconvenience of avoiding artificial origin to bring.
For realizing above object, the technical solution used in the present invention is: the voice-operated Minimally Invasive Surgery of a kind of employing is assisted imaging device, comprise voice acquisition module, sound identification module and execution module, described voice acquisition module is for gathering operator doctor's phonetic order signal, and export the voice signal collecting to sound identification module, sound identification module is by speech signal analysis, after processing, output control signals to the control interface in execution module, the mechanical arm that described control interface is controlled in execution module all around moves up and down, mechanical arm is used for gripping endoscope, endoscope's collection output image are to display.
Compared with prior art, there is following technique effect in the present invention: owing to having adopted voice to control the motion of mechanical arm, improved on the one hand the degree of accuracy of mechanical arm action, reduce on the other hand and hold the anthropic factor impact that mirror operation teacher causes operator doctor operation, mechanical arm grips the phenomenon that endoscope also there will not be tired shake for a long time simultaneously.
Accompanying drawing explanation
Fig. 1 is theory diagram of the present invention;
Fig. 2 is mechanical arm structural representation of the present invention.
The specific embodiment
Below in conjunction with Fig. 1 to Fig. 2, the present invention is described in further detail.
Consult Fig. 1, the voice-operated Minimally Invasive Surgery of a kind of employing is assisted imaging device, comprise voice acquisition module 10, sound identification module 20 and execution module 30, described voice acquisition module 10 is for gathering operator doctor's phonetic order signal, and export the voice signal collecting to sound identification module 20, sound identification module is by speech signal analysis, after processing, output control signals to the control interface 31 in execution module 30, the mechanical arm 32 that described control interface 31 is controlled in execution module 30 all around moves up and down, mechanical arm 32 is for gripping endoscope 40, endoscope's 40 collections output image are to display 50.Here, adopt the position of voice endoscope 40 to control, carrying out of the doctor's operation that is conducive to operate, is no longer held mirror doctor's impact; In addition, endoscope 40 is gripped by mechanical arm 32, and its stability is very good, even if gripping also there will not be jitter phenomenon for a long time.
For medical apparatus and instruments, if because speech recognition is inaccurate, and cause the misoperation of mechanical arm 32 to cause certain harm to patient.As preferred version of the present invention, described voice acquisition module 10 comprises main mike 11, auxiliary mike 12, main and auxiliary mike 11,12 is all worn on operator doctor head, main mike 11 arranges that near doctor's face, for gathering the instruction that doctor sends, auxiliary mike 12 is arranged for gathering the noise of whole environment away from doctor's face.Dual microphone is arranged, is conducive to denoising, guarantees the accuracy of voice collecting, improves the accuracy of subsequent conditioning circuit identification.
Further, for do not limit operator doctor operation, between voice acquisition module 10 and sound identification module 20 by the wireless transmission of carrying out voice signal.Described voice acquisition module 10 also comprises wireless transmission unit 13, described sound identification module 20 comprises radio receiving unit 21, and the voice signal that main and auxiliary mike 11,12 collects is sent to described radio receiving unit 21 by wireless transmission unit 13.
Speech recognition system on market is more now, but discrimination has much room for improvement, and particularly these speech recognition systems are substantially all to need the mandarin of standard to input, and the speech recognition accuracy having an accent is reduced greatly.In the present invention, the preparation of speech recognition is most important, therefore adopts isolate word recognition method here, and different operator doctors' phonetic order is stored.Its specific embodiments is: described sound identification module 20 also comprises
Digitized pretreatment unit 22, carries out noise reduction process for the voice signal that radio receiving unit 21 is received;
End-point detection unit 23, for detection of the speech sound signal terminal point after digitized;
Characteristic parameter extraction unit 24, for extracting the characteristic parameter that characterizes voice signal;
Model of cognition training unit 25, mates the characteristic parameter extracting with control instruction;
Speech model unit 26, for storing characteristic parameter and the control instruction pair having matched;
Recognition unit 27 is found the corresponding control instruction of characteristic parameter of characteristic parameter extraction unit 24 outputs and exports this control instruction to control interface 31 in speech model unit 26;
Man-machine interaction unit 28, carries out the control instruction prompting of characteristic parameter while mating with control instruction and for the control instruction of Identification display unit 27 outputs for model of cognition training unit 25.
Specifically, sound identification module 20 has two kinds of mode of operations, and one is training mode, and one is mode of operation.Training mode is mainly used in typing operator doctor's phonetic order information, so that later stage exact matching; Mode of operation is for the doctor that operates, at operation process endoscope 40, to implement voice to control.Under two kinds of patterns, the work process of sound identification module 20 is different, and details are as follows respectively:
Described sound identification module 20 is trained as follows: (A1) on man-machine interaction unit 28, select training mode, according to prompting, create account; (B1) account establishment is complete, and man-machine interaction unit 28 enters training interface, shows a control instruction; (C1) operator doctor says corresponding voice signal by the control instruction of prompting on man-machine interaction unit 28 to main mike 11; (D1) the instruction voice signal of main and auxiliary mike 11,12, environment voice signal export digitized pretreatment unit 22 to simultaneously; (E1) digitized pretreatment unit 22 carries out exporting end-point detection unit 23 to after noise reduction process to the instruction voice signal of main mike 11 outputs according to the environment voice signal of auxiliary mike 12 outputs; (F1) end-point detection unit 23, characteristic parameter extraction unit 24 carry out end-point detection, characteristic parameter extraction to digitized voice signal respectively; (G1) model of cognition training unit 25 mates the characteristic parameter of the control instruction showing on man-machine interaction unit 28 and 24 outputs of characteristic parameter extraction unit, and is stored to speech model unit 26; (H1) man-machine interaction unit 28 shows next control instruction, and repeated execution of steps C1 is to step H1, until all control instructions coupling is complete; After coupling, man-machine interaction unit 28 prompting training complete.
Perform the operation as follows instruction identification of described sound identification module 20: (A1) select operative model on man-machine interaction unit 28, select account according to prompting; (B1) account selection is complete, and man-machine interaction unit 28 enters operation interface, shows instruction to be entered; (C1) operator doctor need to say corresponding instruction voice signal to main mike 11 according to practical operation; (D1) the instruction voice signal of main and auxiliary mike 11,12, environment voice signal export digitized pretreatment unit 22 to simultaneously; (E1) digitized pretreatment unit 22 carries out exporting end-point detection unit 23 to after noise reduction process to the instruction voice signal of main mike 11 outputs according to the environment voice signal of auxiliary mike 12 outputs; (F1) end-point detection unit 23, characteristic parameter extraction unit 24 carry out end-point detection, characteristic parameter extraction to digitized voice signal respectively; (G1) recognition unit 27 is found the control instruction that match under corresponding account according to the characteristic parameter of characteristic parameter extraction unit 24 outputs from speech model unit 26; (H1) control instruction of man-machine interaction unit 28 Identification display unit 27 outputs, control interface 31 receives control instruction 32 motions of driving device arm of recognition unit 27 outputs, and repeating step C1 is to step H1.
After sound identification module 20 identifies operator doctor's phonetic order, output control instruction is to control interface 31, and driving device arm 32 mobile driving signal all around is up and down processed and exported to described 31 pairs of control instructions that receive of control interface.
About mechanical arm 32 these a part of structures, our company submitted to one piece of < < by name for the patent application of the > > of Chi Jing robot of Minimally Invasive Surgery on the 02nd in December in 2010, it has recorded the structure of mechanical arm 32 in detail, here be summarized as follows: described driving device arm 32 comprises base 321, large arm 322, middle arm 323, forearm 324, arm 325 and hold mirror terminal 326 and form, described large arm 322 can move up and down with respect to base 321, middle arm 323 and forearm 324 are respectively around large arm 322, middle arm 323 planar all around moves, arm 325 accurately moves along the vertical direction with respect to forearm 324, the described mirror terminal 326 of holding is an intelligent universal joint, endoscope is fixed on intelligent universal joint, the mechanism of mechanical arm 32 as shown in Figure 2.
When considering that some is special, operator doctor inconvenience is controlled or voice system fault mechanical arm 32 by voice, therefore, as preferred version of the present invention, described execution module 30 also comprises control panel 33, button is set for receiving manual command input on control panel 33, control panel 33 exports the instruction of the manual input receiving to control interface 31.Like this, when voice acquisition module 10 or sound identification module 20 break down, can give an oral account instruction by operator doctor, other assistants, by control panel 33 manual control machine tool arms 32, meet the demand under special pattern.
Further, described control panel 33 comprises three mode buttons, be respectively " shut " mode", automatic mode, manual mode, when control panel 33 is selected " shut " mode", control interface 31 is not carried out any control instruction, when control panel 33 is selected automatic mode, control interface 31 is only carried out the control instruction of recognition unit 27 inputs, when control panel 33 is selected manual mode, control interface 31 is only carried out the control instruction of control panel 33 inputs, order button is set for manually exporting control instruction on control panel 33.
It is pointed out that the mode of operation selection of sound identification module 20 and the mode of operation selection of executive circuit 30, all can be integrated on control panel 33.The control instruction function of Identification display unit 27 output can integrate with display 50, and like this, whether operator doctor just can watch the instruction of oneself to be correctly validated during image in watching patient body simultaneously.
Claims (10)
1. one kind adopts the auxiliary imaging device of voice-operated Minimally Invasive Surgery, it is characterized in that: comprise voice acquisition module (10), sound identification module (20) and execution module (30), described voice acquisition module (10) is for gathering operator doctor's phonetic order signal, and export the voice signal collecting to sound identification module (20), sound identification module is by speech signal analysis, after processing, output control signals to the control interface (31) in execution module (30), the mechanical arm (32) that described control interface (31) is controlled in execution module (30) all around moves up and down, mechanical arm (32) is for gripping endoscope (40), endoscope (40) collection output image are to display (50).
2. the voice-operated Minimally Invasive Surgery of employing as claimed in claim 1 is assisted imaging device, it is characterized in that: described voice acquisition module (10) comprises main mike (11), auxiliary mike (12), main and auxiliary mike (11,12) is all worn on operator doctor head, main mike (11) arranges that near doctor's face, for gathering the instruction that doctor sends, auxiliary mike (12) is arranged for gathering the noise of whole environment away from doctor's face.
3. the voice-operated Minimally Invasive Surgery of employing as claimed in claim 2 is assisted imaging device, it is characterized in that: described voice acquisition module (10) also comprises wireless transmission unit (13), described sound identification module (20) comprises radio receiving unit (21), and the voice signal that main and auxiliary mike (11,12) collects is sent to described radio receiving unit (21) by wireless transmission unit (13).
4. the auxiliary imaging device of the voice-operated Minimally Invasive Surgery of employing as claimed in claim 3, is characterized in that: described sound identification module (20) also comprises
Digitized pretreatment unit (22), carries out noise reduction process for the voice signal that radio receiving unit (21) is received;
End-point detection unit (23), for detection of the speech sound signal terminal point after digitized;
Characteristic parameter extraction unit (24), for extracting the characteristic parameter that characterizes voice signal;
Model of cognition training unit (25), mates the characteristic parameter extracting with control instruction;
Speech model unit (26), for storing characteristic parameter and the control instruction pair having matched;
Recognition unit (27) is found the corresponding control instruction of characteristic parameter of characteristic parameter extraction unit (24) output and exports this control instruction to control interface (31) in speech model unit (26);
Man-machine interaction unit (28), carries out the control instruction prompting of characteristic parameter while mating with control instruction and for the control instruction of Identification display unit (27) output for model of cognition training unit (25).
5. the voice-operated Minimally Invasive Surgery of employing as claimed in claim 4 is assisted imaging device, it is characterized in that: described sound identification module (20) is trained as follows:
(A1) in the upper training mode of selecting of man-machine interaction unit (28), according to prompting, create account;
(B1) account establishment is complete, and man-machine interaction unit (28) enters training interface, shows a control instruction;
(C1) operator doctor says corresponding voice signal by the control instruction of the upper prompting of man-machine interaction unit (28) to main mike (11);
(D1) instruction voice signal, the environment voice signal of main and auxiliary mike (11,12) export digitized pretreatment unit (22) to simultaneously;
(E1) digitized pretreatment unit (22) carries out exporting end-point detection unit (23) to after noise reduction process to the instruction voice signal of main mike (11) output according to the environment voice signal of auxiliary mike (12) output;
(F1) end-point detection, characteristic parameter extraction are carried out to digitized voice signal respectively in end-point detection unit (23), characteristic parameter extraction unit (24);
(G1) model of cognition training unit (25) mates the characteristic parameter of the upper control instruction showing of man-machine interaction unit (28) and characteristic parameter extraction unit (24) output, and is stored to speech model unit (26);
(H1) man-machine interaction unit (28) shows next control instruction, and repeated execution of steps C1 is to step H1, until all control instructions coupling is complete; After coupling, man-machine interaction unit (28) prompting training completes.
6. the auxiliary imaging device of the voice-operated Minimally Invasive Surgery of employing as claimed in claim 4, is characterized in that: described sound identification module (20) the instruction identification of performing the operation as follows:
(A1) in the upper operative model of selecting of man-machine interaction unit (28), according to prompting, select account;
(B1) account selection is complete, and man-machine interaction unit (28) enters operation interface, shows instruction to be entered;
(C1) operator doctor need to say corresponding instruction voice signal to main mike (11) according to practical operation;
(D1) instruction voice signal, the environment voice signal of main and auxiliary mike (11,12) export digitized pretreatment unit (22) to simultaneously;
(E1) digitized pretreatment unit (22) carries out exporting end-point detection unit (23) to after noise reduction process to the instruction voice signal of main mike (11) output according to the environment voice signal of auxiliary mike (12) output;
(F1) end-point detection, characteristic parameter extraction are carried out to digitized voice signal respectively in end-point detection unit (23), characteristic parameter extraction unit (24);
(G1) recognition unit (27) is found the control instruction that match under corresponding account according to the characteristic parameter of characteristic parameter extraction unit (24) output from speech model unit (26);
(H1) control instruction of man-machine interaction unit (28) Identification display unit (27) output, control interface (31) receives control instruction driving device arm (32) motion of recognition unit (27) output, and repeating step C1 is to step H1.
7. the auxiliary imaging device of the voice-operated Minimally Invasive Surgery of employing as claimed in claim 4, is characterized in that: driving device arm (32) mobile driving signal all around is up and down processed and exported to described control interface (31) to the control instruction receiving.
8. the voice-operated Minimally Invasive Surgery of employing as claimed in claim 7 is assisted imaging device, it is characterized in that: described driving device arm (32) comprises base (321), large arm (322), middle arm (323), forearm (324), arm (325) and hold mirror terminal (326) and form, described large arm (322) can move up and down with respect to base (321), middle arm (323) and forearm (324) are respectively around large arm (322), middle arm (323) planar all around moves, arm (325) accurately moves along the vertical direction with respect to forearm (324), the described mirror terminal (326) of holding is an intelligent universal joint, endoscope is fixed on intelligent universal joint.
9. the voice-operated Minimally Invasive Surgery of employing as claimed in claim 8 is assisted imaging device, it is characterized in that: described execution module (30) also comprises control panel (33), button is set for receiving manual command input on control panel (33), control panel (33) exports the instruction of the manual input receiving to control interface (31).
10. the voice-operated Minimally Invasive Surgery of employing as claimed in claim 9 is assisted imaging device, it is characterized in that: described control panel (33) comprises three mode buttons, be respectively " shut " mode", automatic mode, manual mode, when control panel (33) is selected " shut " mode", control interface (31) is not carried out any control instruction, when control panel (33) is selected automatic mode, control interface (31) is only carried out the control instruction of recognition unit (27) input, when control panel (33) is selected manual mode, control interface (31) is only carried out the control instruction of control panel (33) input, order button is set for manually exporting control instruction on control panel (33).
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| CN104055478A (en) * | 2014-07-08 | 2014-09-24 | 金纯� | Medical endoscope control system based on sight tracking control |
| CN105185213A (en) * | 2015-09-15 | 2015-12-23 | 西安医学院 | Scalpel electronic training system having scalpel holding technique identification function and training method thereof |
| CN105869380A (en) * | 2016-04-26 | 2016-08-17 | 深圳市柯林健康医疗有限公司 | Novel acoustic control monitor |
| CN106297822A (en) * | 2016-08-24 | 2017-01-04 | 无锡怡生医疗设备有限公司 | A kind of operation table speech control system |
| CN106725890A (en) * | 2016-12-13 | 2017-05-31 | 浙江中控技术股份有限公司 | A kind of intelligent lifting-mirror apparatus device |
| CN107157589A (en) * | 2017-05-22 | 2017-09-15 | 北京爱康宜诚医疗器材有限公司 | Soft tissue balance device for measuring force |
| CN108735206A (en) * | 2018-04-19 | 2018-11-02 | 成都泰盟软件有限公司 | A kind of signal acquiring and processing system with speech recognition |
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| CN104055478B (en) * | 2014-07-08 | 2016-02-03 | 金纯� | Based on the medical endoscope control system that Eye-controlling focus controls |
| CN105185213A (en) * | 2015-09-15 | 2015-12-23 | 西安医学院 | Scalpel electronic training system having scalpel holding technique identification function and training method thereof |
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| CN106725890A (en) * | 2016-12-13 | 2017-05-31 | 浙江中控技术股份有限公司 | A kind of intelligent lifting-mirror apparatus device |
| CN107157589A (en) * | 2017-05-22 | 2017-09-15 | 北京爱康宜诚医疗器材有限公司 | Soft tissue balance device for measuring force |
| CN108735206A (en) * | 2018-04-19 | 2018-11-02 | 成都泰盟软件有限公司 | A kind of signal acquiring and processing system with speech recognition |
| CN108831457A (en) * | 2018-05-28 | 2018-11-16 | 深圳亿维锐创科技股份有限公司 | A kind of intelligent operating room system implementation method based on audio frequency control |
| CN109259800A (en) * | 2018-10-26 | 2019-01-25 | 深圳开立生物医疗科技股份有限公司 | Ultrasonic imaging control system |
| CN109859280A (en) * | 2019-03-31 | 2019-06-07 | 深圳市普渡科技有限公司 | Camera calibration system and method |
| CN112788422A (en) * | 2019-11-04 | 2021-05-11 | 海信视像科技股份有限公司 | Display device |
| CN111312251A (en) * | 2020-02-24 | 2020-06-19 | 五邑大学 | Remote mechanical arm control method based on voice recognition |
| CN113456229A (en) * | 2020-03-31 | 2021-10-01 | 北京图灵微创医疗科技有限公司 | Robot system for abdominal cavity operation |
| CN113081281A (en) * | 2021-04-16 | 2021-07-09 | 北京图灵微创医疗科技有限公司 | Robot system for abdominal cavity operation |
| CN112995572A (en) * | 2021-04-23 | 2021-06-18 | 深圳市黑金工业制造有限公司 | Remote conference system and physical display method in remote conference |
| CN114327350A (en) * | 2021-12-22 | 2022-04-12 | 合肥德铭电子有限公司 | Voice interaction system based on wireless endoscope camera shooting and use method thereof |
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Application publication date: 20140326 |