CN118778767A - A foot controller for ophthalmic surgical equipment and its control system - Google Patents

Abstract

The present application relates to the technical field of ophthalmic surgical devices, and in particular to a foot controller for ophthalmic surgical equipment and its control system. The foot controller includes a foot housing, a central pedal, a side button area, a range adjustment module and a function definition module. There are a first moving axis and a second moving axis between the central pedal and the foot housing. The first moving axis is used to move the central pedal up and down in the pitch direction, and the second moving axis is used to move the central pedal left and right in the yaw direction; the range adjustment module is used to adjust the range of the first moving interval in the pitch direction and the second moving interval in the yaw direction respectively; the side button area includes a number of foot buttons; the function definition module is used to perform function definition to obtain pitch angle function items within one or more angle ranges, and the function definition module is also used to perform function definition to obtain yaw angle function items within one or more angle ranges. The present application has the effect of improving the functionality of the foot controller in complex working conditions.

Description

A foot controller for ophthalmic surgical equipment and its control system

Technical Field

The present application relates to the technical field of ophthalmic surgical devices, and in particular to an ophthalmic surgical equipment foot controller and a control system thereof.

Background Art

At present, with the continuous development of science and technology, more and more electronic products have improved the living standards on the one hand, but on the other hand, they have also caused more and more people to have eye problems. Myopia is the most common eye problem. With the current medical level improving, more and more people choose to improve their eye problems through eye surgery.

The most commonly used ophthalmic surgery equipment is ophthalmic surgery equipment, which is used for cataract emulsification and extraction, anterior and posterior segment vitrectomy. It can perform phacoemulsification, irrigation/aspiration, bipolar electrocoagulation, vitrectomy and gas-liquid exchange surgery.

During ophthalmic surgery, doctors need to hold various operating handles to perform surgery on the patient's eyes and use foot controllers to control most of the equipment's functions. In some operating configurations, doctors also need to use foot controllers to change modes.

Then the scientific and advanced foot controller determines the smooth progress and good effect of eye surgery. However, the foot pedals in the current ophthalmic surgery system are generally a central pedal structure with one-way pitch adjustment, which can only achieve functional changes by changing the pitch angle. Its functionality is extremely poor and cannot meet the needs of complex and various types of ophthalmic surgeries.

Summary of the invention

In order to improve the functionality of the foot controller in complex working conditions, the present application provides an ophthalmic surgical equipment foot controller and a control system thereof.

In a first aspect, the present application provides a foot controller for an ophthalmic surgical device, which adopts the following technical solution:

A foot controller for ophthalmic surgical equipment, comprising a foot housing, a central pedal, a side button area, a range adjustment module and a function definition module, wherein a first moving axis and a second moving axis are provided between the central pedal and the foot housing, the first moving axis is used to enable the central pedal to move up and down on the foot housing along a pitch direction, and the second moving axis is used to enable the central pedal to move left and right on the foot housing along a yaw direction;

The range adjustment module is used to adjust the range of the first moving interval in the pitch direction and the second moving interval in the yaw direction respectively;

The side button area includes a plurality of foot pedal buttons, and the function definition module is used to define the functions of the plurality of foot pedal buttons in the side button area;

The function definition module is used to define the function of the corresponding angle range within the first moving interval to obtain the pitch angle function items within one or more angle ranges, and the function definition module is also used to define the function of the corresponding angle range within the second moving interval to obtain the yaw angle function items within one or more angle ranges.

In some of the embodiments, the function definition module is also used to obtain surgical information and dominant foot information, and generate corresponding function definition instructions based on the surgical information and the dominant foot information, wherein the function definition instructions include function bits to be defined within one or more angle ranges, and the surgical information includes surgical type, surgical requirements, surgical steps, and anterior and posterior segment information.

In some of the embodiments, for the pitch angle function item, the function definition instruction includes at most three of the angle ranges, and corresponds to one-zone pitch control, two-zone pitch control and three-zone pitch control, respectively, wherein the one-zone pitch control includes a linear function bit to be defined within one angle range, the two-zone pitch control includes a linear function bit to be defined within two adjacent angle ranges, and the three-zone pitch control includes a linear function bit to be defined within three adjacent angle ranges, wherein there is a braking position with damping between adjacent linear function bits.

In some of the embodiments, for the yaw angle function item, the function definition instruction includes single linear yaw control and double linear yaw control,

In the single linear yaw control, a reflux control of the yaw angle toward one side and a switch control position of the yaw angle toward the other side are included.

The dual linear yaw control includes a reflux control of the yaw angle toward one side and a linear control of the yaw angle toward the other side.

In some embodiments, the dominant foot information includes a left foot and a right foot. When the dominant foot information is the left foot, the yaw of the central pedal includes a central yaw mode and a left yaw mode. When the dominant foot information is the right foot, the yaw of the central pedal includes a central yaw mode and a right yaw mode.

The central yaw mode is characterized by the central pedal being located at the central position of the second movement interval, and the yaw angles of the central pedal on both sides are the same.

The left yaw mode is characterized by the central pedal being deflected to the right by a first angle, and the deflectable angle of the central pedal to the right is smaller than the deflectable angle to the left;

The right yaw mode is characterized by the central pedal being deflected to the left by a second angle, and the deflectable angle of the central pedal to the left is smaller than the deflectable angle to the right.

In some of the embodiments, a control list generation module is also included, which is used to obtain the pitch angle function items within the corresponding angle range within the first moving interval and the yaw angle function items within the corresponding angle range within the second moving interval defined by the function definition module, and generate a corresponding control list in combination with corresponding surgical information, wherein the control list includes corresponding control instructions.

In some of the embodiments, a central pedal control module is further included, which is used to obtain the control list and wait for obtaining movement information generated on the central pedal, the movement information including pitch movement information and yaw movement information, and match corresponding control instructions in the control list based on the pitch movement information and the yaw movement information to control the corresponding target device, the pitch movement information including the pitch angle, and the yaw movement information including the yaw direction and the yaw angle.

In some embodiments, the central pedal control module controls the target device in a single linear mode and a dual linear mode.

In the single linear mode, the control instruction includes one or more pitch angle function items and a yaw angle function item of a single linear yaw control,

In the bilinear mode, the control instruction includes one or more pitch angle function items and a yaw angle function item of a bilinear yaw control,

In the multi-linear mode, the control instruction includes one or more pitch angle function items and multiple yaw angle function phases of bilinear yaw control and continuous action sequence information of the function phases.

In some embodiments, an instruction error correction module is further included, which is used to obtain the action information of the central pedal, the action information includes the action angle, action direction, and action sequence of the central pedal, and verify whether the action information is a continuous action according to the action time, and if so, determine whether there is a control instruction matching the action information in the control list;

If so, controlling the corresponding target device according to the control instruction;

If it does not exist, a damping increase instruction is generated to the central pedal to correct the action and generate corresponding prompt information.

In some of the embodiments, an instruction verification module is also included, which is used to generate instruction verification information when a preset specified scenario occurs. When the instruction verification information exists, the first operation on the yaw angle is recorded as a verification action, and the verification action is characterized by the instruction corresponding to the function not controlling the target device. When the verification action is confirmed, the next operation on the yaw angle is recorded as the control of the target device.

In a second aspect, the present application provides a control system, which adopts the following technical solution:

A control system includes the above-mentioned ophthalmic surgical equipment foot controller, and also includes a plurality of control interfaces, wherein the plurality of control interfaces are used to connect a plurality of target devices, and the foot controller is used to control the target devices on the control interfaces according to the pitch angle function items and the yaw angle function items corresponding to the plurality of foot buttons and the central pedal.

The beneficial effects of this application include:

The central pedal 3 matches different functions in combination with different movement angle ranges in two directions, and is combined with multiple foot buttons, so that the user can achieve up to 13 functions through the foot controller. When performing complex operations, there is no need to repeatedly set the foot controller to achieve function changes, thereby improving the functionality of the foot controller in complex operations.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic diagram of the structure of a foot controller for an ophthalmic surgical device in an embodiment of the present application.

FIG. 2 is a schematic diagram of a module of a foot controller for an ophthalmic surgical device in some embodiments of the present application.

FIG. 3 is three pitch control diagrams for pitch angle items in an embodiment of the present application.

FIG. 4 is a schematic diagram of a single linear yaw control and a central yaw mode in an embodiment of the present application.

FIG. 5 is a schematic diagram of a dual linear yaw control and a right yaw mode in an embodiment of the present application.

FIG. 6 is a schematic diagram of a module of a foot controller for an ophthalmic surgical device in some embodiments of the present application.

FIG. 7 is a control list in the front section mode in an embodiment of the present application.

FIG8 is a control list in the latter section mode in an embodiment of the present application.

Explanation of the accompanying drawings: 1. Foot controller for ophthalmic surgical equipment; 2. Foot pedal housing; 3. Central pedal; 4. Side button area; 5. Range adjustment module; 6. Function definition module; 7. Control list generation module; 8. Central pedal control module; 9. Instruction verification module.

DETAILED DESCRIPTION

To more clearly understand the purpose, technical solutions and advantages of the present application, the present application is described and illustrated below in conjunction with the accompanying drawings and embodiments. However, it should be understood by those of ordinary skill in the art that the present application can be implemented without these details. In some cases, in order to avoid unnecessary descriptions that make various aspects of the present application obscure, well-known methods, processes, systems, components and/or circuits that have been described at a higher level will not be described in detail. For those of ordinary skill in the art, it is obvious that various changes can be made to the embodiments disclosed in the present application, and without departing from the principles and scope of the present application, the general principles defined in the present application can be applied to other embodiments and application scenarios. Therefore, the present application is not limited to the embodiments shown, but conforms to the broadest scope consistent with the scope claimed for protection of the present application.

It should be noted that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation of the present invention. In addition, the technical features involved in each embodiment of the present invention described below can be combined with each other as long as there is no conflict between them.

In the description of this application, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed", etc. are understood to exclude the number itself, and "above", "below", "within", etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used to distinguish the technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

In the description of the present application, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples.

An embodiment of the present application discloses a foot controller for ophthalmic surgical equipment.

As shown in FIG. 1 and FIG. 2 , a foot controller 1 for ophthalmic surgical equipment includes a foot housing 2 , a central pedal 3 , a side button area 4 , a range adjustment module 5 and a function definition module 6 .

The pedal housing 2 is a supporting housing structure for placing and installing other components of the foot controller 1 of the ophthalmic surgical equipment, and is generally made of plastic, metal or other materials with a certain hardness.

The central pedal 3 is mounted on the pedal housing 2, and rotates in two directions on the pedal housing 2 through a first movable axis and a second movable axis arranged between the central pedal 3 and the pedal housing 2. The first movable axis is arranged along the x-axis of the pedal housing 2, so that the central pedal 3 can change its angle in the pitch direction along the first movable axis, and the second movable axis is arranged along the y-axis of the pedal housing 2, so that the central pedal 3 can move left and right in the yaw direction, wherein the first movable axis and the second movable axis are both located at positions corresponding to the toes on the central pedal 3.

Specifically, the above pitch angle and yaw angle can also be understood as, when the user's foot steps on the central pedal 3, with the toes as the axis, the direction of pressing and lifting the heel is the pitch angle, and with the toes as the axis, the direction of rotating the heel along the horizontal direction is the yaw direction.

The range adjustment module 5 can adjust the range of the first moving range in the pitch direction and the range of the second moving range in the yaw direction of the central pedal 3. For example, the first moving range in the pitch direction is set to 0-15 degrees, 0-10 degrees, or the second moving range in the yaw direction is set to -10 degrees-0 degrees, 0 degrees-+10 degrees, or to -10 degrees--5 degrees, -5 degrees-+10 degrees.

The range adjustment module 5 can be used to adjust the comfortable adjustment range according to the user's dominant foot and different habits. On the other hand, it can also be used to combine with the subsequent function definition module 6 to realize functions without partitioning.

The side button area 4 includes a plurality of pedal buttons. In the embodiment of the present application, the side button area 4 includes four pedal buttons, wherein two pedal buttons are located on the left side of the central pedal 3, and the other two pedal buttons are located on the right side of the central pedal 3. The two pedal buttons on the left side are respectively located at the positions of the pedal housing 2 corresponding to the left toe and the left heel, and the two pedal buttons on the right side are respectively located at the positions of the pedal corresponding to the right toe and the right heel.

The two groups of foot pedal buttons located on the left and right sides can correspond to combined functions, for example, the button at the right toe position corresponds to the increment of the remote switch, and the button at the right heel position corresponds to the deceleration of the remote switch. Independent functions can also be set separately, for example, the button at the left toe position corresponds to the converter switch, and the button at the left heel position corresponds to the function switch.

The function definition module 6 is used to define corresponding functions to corresponding keys according to user needs and operations.

The function definition module 6 is also used to perform function definition on the corresponding angle range within the first moving interval to obtain one or more pitch angle function items within the angle range. For example, the pitch angle is set to correspond to function A when it is 0-5 degrees, function B when it is 5-10 degrees, function C when it is 10-15 degrees, or function D when it is 0-15 degrees.

It is also used to define the functions of the corresponding angle range within the second moving interval to obtain yaw angle function items within one or more angle ranges. For example, taking the current position as the origin, yaw of 0-10 degrees to the left corresponds to function A, yaw of 0-10 degrees to the right corresponds to function B, or only setting the deviation in one direction corresponds to function C.

Each function item is characterized as a specific function, and the programming of the specific functions and control parameters of the pedal changes at different angles and directions is realized through the function definition module 6.

Through the above-mentioned settings, the central pedal 3 can match different functions in combination with different movement angle ranges in two directions. At the same time, combined with multiple foot buttons, the user can achieve up to 13 functions through the ophthalmic surgery equipment foot controller 1, so that when performing complex operations, there is no need to repeatedly set the ophthalmic surgery equipment foot controller 1 to achieve function changes, thereby improving the functionality of the ophthalmic surgery equipment foot controller 1 in complex operations.

In other embodiments, the function definition module 6 is further used to obtain surgical information and dominant foot information, and generate corresponding function definition instructions based on the surgical information and dominant foot information.

The surgical information includes the type of surgery, surgical steps, surgical requirements, anterior and posterior segment information, etc. The surgical type includes functions such as phacoemulsification, bipolar electrocoagulation, vitrectomy, gas-liquid exchange, etc. The surgical steps include ultrasound, resection, perfusion, suction, super powder, etc.

According to different surgical information and different dominant feet, different function definition instructions can be generated for different surgical types, links, and the difference between using the right foot and the left foot. Each function definition instruction section includes one or more function bits to be defined within an angle range. A function can be defined on each function bit.

For example, in single linear ultrasound, three function bits can be generated within the pitch angle, wherein the function "perfusion" is set at the function bit of pitch angle A, the function "fixed negative pressure" is set at the function bit of pitch angle B, and the function "linear ultrasound" is set at the function bit of pitch angle C. A function bit is generated within the yaw angle range, and the function "switch ultrasound sub-mode" is set at the function bit of yaw angle D to the left.

Through the above settings, the corresponding functions of the central pedal 3 can be set accordingly when performing different types and stages of operations, so that the corresponding control instructions can be quickly converted before the operation. The foot pedal function instructions suitable for the operation can be obtained by simply selecting the corresponding operation information and doctor information.

Specifically, the above information needs to be set by the surgeon before the operation. The surgeon logs in the user information through the display screen on the ophthalmic surgery system. After the user logs in correctly, he can choose the type of surgery. The surgery types generally include anterior segment, posterior segment, and combined. Different surgical environments provide different surgical environments, and different surgical environments can get a set of corresponding foot control command sets.

At the same time, the steps of function definition can be set in advance before the system is officially used according to the doctor's habits, doctor training content and other information, so that the doctor only needs to select the corresponding operation type, operation item, and operation step before the operation to directly obtain the corresponding pedal configuration information. The doctor can also modify and redefine the function items of different angles and directions of the configured central pedal 3 before the operation according to the changes in the operation content or the complexity.

As shown in FIG. 3 , in other embodiments, for the pitch angle function item, the function definition instruction includes at most three angle ranges, and the three angle ranges correspond to one-zone pitch control, two-zone pitch control and three-zone pitch control, respectively.

In the one-zone pitch control, a linear function position to be defined within an angle range is included. The pitch movement is programmed to provide linear control as a value relative to the displacement of the central pedal 3, that is, in the one-zone pitch control, the size of the pitch angle corresponds to the power output size of only one function, and the pitch angle of 0-15 degrees corresponds to 0%-100% power output.

In the two-zone pitch control, there are two linear function bits to be defined within two adjacent angle ranges, and both of these linear function bits can be programmed as linear controls with different functions. In the two-zone pitch control, a pitch angle range can be divided into an angle range of 0-5 degrees and an angle range of 5-10 degrees, wherein one function can be set in zone 1 within the angle range of 0-5 degrees, and another function can be set within the angle range of 5-10 degrees. But generally speaking, because the movable angle of zone 1 is relatively small in multi-zone pitch control, zone 1 generally only carries the switch function of perfusion, and can be set to a nonlinear function, that is, when the angle within 5 degrees is pressed, the corresponding function is perfusion opening, while the movable angle of zone 2 is larger, and it can realize linear control, such as when the moving range of the central pedal 3 is 5-10 degrees, it corresponds to the power output of 0%-100% of the corresponding function.

In the three-zone pitch control, there are three linear function bits to be defined within three adjacent angle ranges, and these three linear function bits can all be programmed as linear controls with different functions. In the three-zone pitch control, a pitch angle can be divided into zone 1 of 0-5 degrees, zone 2 of 5-10 degrees, and zone 3 of 10-15 degrees, and each zone can correspond to a function. Similar to the two-zone pitch control, in the three-zone pitch control, generally zone 1 only carries the switch function of perfusion, while zones 2 and 3 can be configured with linear or nonlinear functions according to actual surgical needs.

When all three areas are set to linear function, the power output of area 1 can correspond to 0%-5%, the power output of area 2 can correspond to 5%-30, and the power output of area 3 can correspond to 30%-50%.

At the same time, in the three-zone pitch control, area 2 and area 3 can be combined into one area to control the linear value or function, or the function of a certain area may not be defined, for example, only corresponding functions are defined for area 1 and area 3, but not for area 2.

Among them, there are braking positions with damping between adjacent linear function positions, and the damping can be set by a programmable damper, so that the user can have certain tactile feedback when crossing zones at different pitch angles.

As shown in FIG. 4 and FIG. 5 , in other embodiments, for the yaw angle function item, the function definition instruction includes single linear yaw control and dual linear yaw control.

In the single linear yaw control, it includes the return control of the yaw angle toward one side and the switch control position of the yaw angle toward the other side.

In single linear yaw control, on/off control is provided when yaw movement is made in one direction, each successive outward movement switches the programmed tool on or off, and when the central pedal 3 is released, it returns to the center position. Yaw in the other direction is used to control the return flow. It should be noted that movement in one direction to control the return flow is only realized when there is a setting, and when the return flow function is not needed, the return flow control is turned off.

Among them, the yaw in one direction may also be changed to other control function items instead of being set as the reflux function.

In the dual linear yaw control, it includes the return flow control of the yaw angle toward one side and the linear control of the yaw angle toward the other side.

In the dual linear yaw control, the function bits on it provide linear control items implemented by programming tools when yaw movement in one direction, as a value relative to the central pedal 3, the ratio between the yaw movement angle and the output power includes: 0-15 degrees yaw angle corresponds to 0%-100% power output. When the central pedal 3 is released, it will return to the center position.

Backflow is characterized by the momentary reverse flow of fluid into the handle, with backflow pressure generated by the irrigation bottle or mechanical plunger in the ophthalmic surgical system.

Yawing in the other direction is used to control the reflux. It should be noted that moving in one direction to control the reflux is only possible when there is a setting. When the reflux function is not needed, the reflux control is turned off.

Among them, the yaw in one direction may also be changed to other control function items instead of being set as the reflux function.

It should be noted that in the above scheme, when the backflow function is set, the outward yaw movement is defaulted to the switch control or linear control of certain functions, while the inward yaw movement is the backflow function. The outward direction is characterized as the same direction as the dominant foot, and the inward direction is characterized as the opposite direction to the dominant foot. For example, for a user whose dominant foot is the right foot, the outward yaw direction is characterized as yaw to the right, and the inward yaw direction is characterized as yaw to the left.

Because the switch control or linear control of each function is used relatively frequently and for a relatively long time during the operation, according to the structure of the foot, the range of motion of the foot when moving outward is larger and the burden is smaller, so the above setting helps to reduce the doctor's physical fatigue during the operation.

In other embodiments, the dominant foot information includes a left foot and a right foot.

As shown in FIG. 4 and FIG. 5 , when the dominant foot is the left foot, the yaw of the central pedal 3 includes a central yaw mode and a left yaw mode; when the dominant foot is the right foot, the yaw of the central pedal 3 includes a central yaw mode and a right yaw mode.

The central yaw mode is characterized in that the central pedal 3 is located at the central position of the second movement interval, and the yaw angles of the central pedal 3 on both sides are the same.

The moving range of the second moving interval is -10 degrees to +10 degrees in the embodiment of the present application, and in the central yaw mode, the origin of the central pedal 3 is in the middle, and has a moving range of about 10 degrees in both directions. In the central yaw mode, it can be adapted to users whose dominant foot is the left foot or the right foot.

The central pedal 3 can also be set and programmed to provide greater linear yaw movement space for users with right or left dominant feet.

The left yaw mode is characterized in that the central pedal 3 deviates to the right by a first angle, and the deflectable angle of the central pedal 3 to the right is smaller than the deflectable angle to the left.

The left yaw mode is set and programmed for left-foot operators, with the origin position offset approximately 5 degrees to the right of center, allowing it to move approximately 15 degrees to the left (inward) and approximately 5 degrees to the right (outward).

The right yaw mode is characterized in that the central pedal 3 deviates to the left by a second angle, and the deflectable angle of the central pedal 3 to the left is smaller than the deflectable angle to the right.

The right yaw mode is set and programmed for right-foot operators, with the origin position offset approximately 5 degrees to the left of center, allowing it to move approximately 15 degrees to the right (inward) and approximately 5 degrees to the left (outward).

Through the above arrangement, the outward yaw angle of users with different dominant feet can be larger, which meets ergonomics and reduces the physical burden of users when controlling functions through the central pedal 3.

In other embodiments, a memory rebound component is provided on the central pedal 3, which is used to memorize the initial position of the central pedal 3 and control the central pedal 3 to return to the initial position after the central pedal 3 moves in the pitch direction and/or yaw direction and the force stops.

As shown in Figure 6, in other embodiments, a control list generation module 7 is also included, which is used to obtain the pitch angle function item within the corresponding angle range within the first moving interval and the yaw angle function item within the corresponding angle range within the second moving interval defined by the function definition module 6, and generate a corresponding control list in combination with the corresponding surgical information, and the control list includes corresponding control instructions.

The control list generation module 7 is used to match the defined pitch angle function item and yaw angle function item with the corresponding surgical information to obtain a control list, which includes a number of control instructions. In this way, the list information of surgical information-pitch angle interval/yaw angle interval-control instruction can be obtained, which is convenient for the system to record and match on the one hand, and also convenient for viewing on the other hand. For a specific list, see Figures 7 and 8.

In some other embodiments, a central pedal control module 8 is further included, which is used to obtain a control list and wait for obtaining movement information generated on the central pedal 3. The movement information includes pitch movement information and yaw movement information.

When the user steps on the central pedal 3 and presses or rotates in the pitch and yaw directions, the corresponding movement information is activated.

Based on the pitch movement information and the yaw movement information, the corresponding control instructions are matched in the control list to control the corresponding target device. The pitch movement information includes the pitch angle, and the yaw movement information includes the yaw direction and the yaw angle.

After the movement information is obtained, the movement information is matched with the angle information in the pitch angle function item and the yaw angle function item in the current surgery information in the control list to obtain the corresponding control instruction, and the target device is controlled accordingly based on the control instruction.

For example, the current surgical information is bidirectional linear ultrasound, negative pressure turns on yaw, and the collected movement information is 8 degrees pitch, which is the R2 zone in the three-zone pitch control, that is, area 2. At this time, according to the information in the control list, the R2 zone corresponds to the minimum negative pressure function, so a linear minimum negative pressure function is generated to control the corresponding device.

In other embodiments, the central pedal control module 8 controls the target device in a single linear mode and a dual linear mode.

In the single-linear mode, the control instruction includes one or more pitch angle function items and a yaw angle function item of a single-linear yaw angle control.

In single linear mode, the pitch control of the center pedal 3 is a linear control of one function, and the yaw movement provides a non-linear on/off function in both directions.

In bilinear mode, the control instruction includes one or more pitch angle function items and a yaw angle function item of bilinear yaw control.

In the dual linear mode, the pitch movement control of the central pedal 3 is the linear control of one functional item, and the yaw movement control is the linear control of another functional item.

In the multi-linear mode, the control instruction includes one or more pitch angle function items and multiple yaw angle function phases of bilinear yaw control and continuous action sequence information of their function phases.

In the multi-linear mode, a single pitch or yaw movement of the central pedal 3 corresponds to the linear control of a functional item, and the combination of multiple pitch controls and multiple yaw controls can also correspond to the linear control of one or more functional items. In the multi-linear mode, the action sequence for the combination of multiple functional items is also used as a factor for the functional items. For example, in the single-linear mode or the dual-linear mode, the linear action of pitch corresponds to linear suction, and the linear action of yaw corresponds to pulse number control. If the user's action is yaw to the right - pitch movement to area 2 - yaw to the left - pitch movement to area 3, it corresponds to the linear control of the ultrasonic knife handle. Through the above method, when the difficulty or complexity of the operation is high, the control instructions of the central foot pedal 3 can be infinitely expanded through the multi-linear mode to improve functionality.

By switching between different functional modes, the central pedal 3 can be combined with more combined functional control options to more specifically match different surgical environments.

Under different surgical information, the pitch and yaw control of the central pedal 3 has the following examples:

Central pedal 3 controls in filling/aspiration mode:

The pitch angle function item is a two-zone pitch control. When the central pedal 3 is pressed for the first time, the perfusion control valve is opened and the perfusion fluid flows into the eye. After the perfusion starts, when the central pedal 3 is pressed down by about 5 degrees, the resistance of the central pedal 3 increases due to the damper, indicating a transition from zone 1 to zone 2, and the perfusion function is converted to linear suction. The suction increases proportionally with the movement of the central pedal 3, and the maximum suction level can be set through the display screen.

Central pedal 3 controls in bidirectional ultrasonic mode:

The pitch angle function item is a three-zone pitch control. When the central pedal 3 is pressed for the first time, the perfusion control valve is opened and the perfusion fluid flows into the eye; after the perfusion starts, when the central pedal 3 is pressed down by about 5 degrees, the resistance of the central pedal 3 increases due to the damper, indicating a transition from zone 1 to zone 2, and the perfusion function is converted to linear suction, and the suction increases proportionally with the movement of the central pedal 3; when the central pedal 3 is pressed down by about 10 degrees, the resistance of the central pedal 3 increases due to the damper, indicating a transition from zone 2 to zone 3, and the perfusion function is converted to fixed suction.

Central pedal 3 controls in Linear Power Linear Ultrasonic Modulation sub-mode:

The pitch angle function item is a three-zone pitch control. When the pitch angle of the central pedal 3 is in zone 3 and the yaw angle is in the middle zone, ultrasonic power linear control and duty cycle fixed value control are provided. When the pitch angle of the central pedal 3 is in zone 3 and the yaw angle is in the outer zone, linear control of the number of pulses per second is provided at the same time. When the pitch angle of the central pedal 3 is in zone 2 and zone 3 and the yaw angle is in the inner zone, a switching function of the ultrasonic modulation sub-mode is provided.

In some other embodiments, in the multi-linear mode, an instruction error correction module is further included, which is used to obtain the action information of the central pedal, the action information includes the action angle, action direction, and action sequence of the central pedal, and verify whether the action information is a continuous action according to the action time, and if so, determine whether there is a control instruction matching the action information in the control list;

If so, controlling the corresponding target device according to the control instruction;

If not present, a damping increase instruction is generated to the central pedal to perform action correction and generate corresponding prompt information.

In the multi-linear mode, the user's control action information on the central pedal 3, the angle and direction of the working action, and the order between multiple actions are recorded, and when the action information is obtained, the action information is promptly compared with the control instructions in the control list. It should be noted that the comparison process starts when the user performs the first action, and the comparison process is specifically that the user performs the next action continuously, and then performs another comparison until all the consecutive actions are compared.

During the comparison process, if each continuous action combination can correspond to a control instruction in the multi-linear mode, the corresponding target device is controlled through the instruction.

During the comparison process, if it is found that there are continuous actions that do not match the control instructions, the action damping will be increased by controlling the damper to remind the user that there may be an error in the action instruction. And because the comparison process is continuous, the user can be reminded before the continuous action is completed. For example, the linear control action instruction of a certain function is: yaw to the right-pitch movement to area 2-yaw to the left-pitch movement to area 3. Then if the user's first action is to yaw to the right, the corresponding action instruction can be matched in the control list, the second action is to pitch to area 2, which can also be matched, and the third action is to yaw to the left, which can also be matched. If the user's fourth action is to pitch to area 1, it cannot be matched with the control instruction, then the damping will be increased to correct the action, so as to avoid the user's action errors when the combined action is more complicated and increase the risk of surgery.

In other embodiments, for the continuous action combination of the multi-linear mode, when the user defines the function through the function definition module 6, the function definition module 6 will perform function definition screening, and when a preset situation occurs, a definition error reminder will be generated to remind the user that the currently defined function is incorrect. Specific preset situations include:

, Under the same surgical information, the user defines different instruction information in the function bits corresponding to the same continuous action combination.

The above situation will cause the user to receive two different instruction information after performing a series of actions, which will cause the system to report an error.

, In the same surgical information, a certain continuous action combination completely exists in part of the content of other continuous actions, and the first action information in the two continuous action combinations is the same.

For example, the continuous action combination of function A is pitch down to area 2-yaw right-pitch down to area 3-yaw left, while the continuous action of function B is pitch down to area 2-yaw right-pitch down. At this time, the continuous action combination of function B is completely included in function A. At this time, no matter which function currently exists, the other function cannot be defined.

The above situation may cause the user to want to operate function A, but because the first three action information in function A will correspond to function B after combination, an erroneous operation may occur.

In other embodiments, the action correction module is also used to query whether there are similar combination actions in the control list. Similar combination actions are characterized by the presence of more combination actions in the same direction and/or the same angle and/or the same order among more than two combination actions.

If it exists, when entering the multilinear mode, the current surgical information is obtained, and multiple similar combined actions are screened according to the surgical information to screen out the combined actions that meet the current surgical information as the control instructions to be applied, and when the user performs an action, only the action information is compared with the current control instructions to be applied, and the combined actions that are not selected are considered to be control instructions that will not be used in the operation and are not compared.

Through the above method, when there are a large number of control instructions in the control list and the contents of multiple control instructions are similar, the control accuracy in the multi-linear mode is improved and the occurrence of erroneous actions is reduced.

In some other embodiments, in the multi-linear mode, the function definition module is further used to generate a shortcut action instruction. The shortcut action instruction is characterized by combining multiple continuous actions into a shortcut action when there are more than two continuous actions in the continuous combination action with different pitch angles and different yaw angles. A continuous combination action may include one or more shortcut actions.

For example, a complete continuous combination action is: pitch down to area 2 - yaw right to the right area - pitch down to area 3 - yaw left to the middle area.

Then it can divide the continuous combined action into one or two, for example:

Use Pitch Down to Zone 2 - Yaw Right to the Right Zone as the first quick action, and Pitch Down to Zone 3 - Yaw Left to the Left Zone as the second quick action.

or,

Set pitch down to area 2 - yaw right to right area - pitch down to area 3 as the first quick action.

Then, when the user is actually operating, when there are two quick actions, the user only needs to quickly move the central pedal 3 from the middle area 1 to the right area 2. At this time, the system no longer pays attention to the order of the downward and rightward actions, but only needs to record that the movement of the central pedal 3 exists in both the pitch and yaw directions. Similarly, the user only needs to quickly move the central pedal 3 from the right area 2 to the middle area 3 to complete the second quick action.

The same is true when there is a quick action. The user only needs to move the central pedal 3 from the middle area 1 to the right area 3 to complete the entire action of pitching down to area 2 - yaw right to the right area - pitching down to area 3. There is no need to pay attention to the movement order between each action. Finally, move the central pedal 3 to the middle area to complete all the above-mentioned combined action instructions.

Through the above scheme, a combined action composed of multiple actions can be decomposed into a smaller number of quick actions, which reduces the user's repeated movement actions in two directions, and also reduces the user's number of actions and the amount of action sequence memory.

It should be noted that the above-mentioned quick actions need to meet several instruction requirements: (1) the continuous combination of actions corresponds to 3 or more actions; (2) the central pedal 3 is at different pitch angles and yaw angles in the initial state and the end state of the quick action; (3) it is applied to two-zone pitch control or three-zone pitch control.

In other embodiments, a command verification module 9 is further included, which is used to generate command verification information when a preset specified scenario occurs. When the command verification information exists, the first operation on the yaw angle is recorded as a verification action, and the verification action is characterized by the instruction corresponding to the function not controlling the target device. When the verification action is confirmed, the next operation on the yaw angle is recorded as the control of the target device.

Regarding yaw control, since it has a moving range in two directions, and the functional design of the central pedal 3 generally adopts a switch or linear control for inward yaw, and a reflux control for outward yaw, when users with different dominant feet perform yaw control, the yaw control direction may be reversed due to failure to change the dominant foot setting in time or habit problems. For example, when the surgical personnel are replaced or the central pedal 3 has not been used for a long time, the last person who used the central pedal 3 is a right-foot user and the next person who uses the central pedal 3 is a left-foot user.

In order to avoid the problem of functional control errors caused by the reversal of yaw control direction, which may cause risks in surgery, the central pedal 3 in the embodiment of the present application will generate instruction verification information when a preset scenario occurs. The preset designated scenarios include: changing surgical personnel, changing surgery, the central pedal 3 has not been used for a long time, etc.

When the instruction verification information appears, the user will not control the target device when using the central pedal 3 for the first yaw movement, but will use this yaw movement as a verification action. After the verification action, the system's display screen will notify the user that this action is a verification action and requires the user to confirm. This verification instruction can let the user know whether the dominant foot setting information needs to be changed, and make corrections in time when it is not changed and an erroneous action occurs. On the other hand, it can also avoid medical risks caused by erroneous actions.

After the user confirms the verification action, subsequent operations on the yaw angle will control the target period normally.

The present application also discloses an ophthalmic surgery system, which includes the above-mentioned ophthalmic surgery equipment foot controller 1, and also includes a plurality of control interfaces, the plurality of control interfaces are used to connect a plurality of target devices, the ophthalmic surgery equipment foot controller 1 is used to control the target devices on the control interface according to the pitch angle function items and yaw angle function items corresponding to the foot buttons and the central pedal 3.

The control interfaces may include a phacoemulsification interface, a dual electrocoagulation interface, a silicone oil injection and suction interface, a vitrectomy interface, a gas-liquid exchange interface, a lighting interface, etc. The phacoemulsification interface is used to connect an ultrasonic handle, and the vitrectomy interface is used to connect a pneumatic vitrectomy head.

It should be understood that although the steps in the flowchart of the accompanying drawings are shown in sequence according to the instructions of the arrows, these steps are not necessarily performed in the order indicated by the arrows. Unless otherwise clearly stated in this document, the execution of these steps is not strictly limited in order and can be performed in other orders.

The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims (10)

1. A foot controller for ophthalmic surgical equipment, characterized in that it comprises a foot housing (2), a central pedal (3), a side button area (4), a range adjustment module (5) and a function definition module (6), wherein a first moving axis and a second moving axis exist between the central pedal (3) and the foot housing (2), the first moving axis being used to enable the central pedal (3) to move up and down on the foot housing (2) along a pitch direction, and the second moving axis being used to enable the central pedal (3) to move left and right on the foot housing (2) along a yaw direction; The range adjustment module (5) is used to adjust the range of the first movement interval in the pitch direction and the second movement interval in the yaw direction respectively; The side button area (4) includes a plurality of foot pedal buttons, and the function definition module (6) is used to define the functions of the plurality of foot pedal buttons in the side button area (4); The function definition module (6) is used to perform function definition on the corresponding angle range within the first movement interval to obtain pitch angle function items within one or more angle ranges, and the function definition module (6) is also used to perform function definition on the corresponding angle range within the second movement interval to obtain yaw angle function items within one or more angle ranges. 2. The foot controller of an ophthalmic surgical device according to claim 1 is characterized in that the function definition module (6) is also used to obtain surgical information and dominant foot information, and generate corresponding function definition instructions based on the surgical information and the dominant foot information, the function definition instructions include one or more function bits to be defined within an angle range, and the surgical information includes surgical type, surgical requirements, surgical steps, and anterior and posterior segment information. 3. The foot controller of ophthalmic surgical equipment according to claim 2 is characterized in that, for the pitch angle function item, the function definition instruction includes at most three of the angle ranges, and corresponds to one-zone pitch control, two-zone pitch control and three-zone pitch control respectively, wherein the one-zone pitch control includes a linear function bit to be defined within one angle range, the two-zone pitch control includes a linear function bit to be defined within two adjacent angle ranges, and the three-zone pitch control includes a linear function bit to be defined within three adjacent angle ranges, wherein there is a braking position with damping between adjacent linear function bits. 4. The foot controller of ophthalmic surgical equipment according to claim 2, characterized in that: for the yaw angle function item, the function definition instruction includes single linear yaw control and double linear yaw control, In the single linear yaw control, a reflux control of the yaw angle toward one side and a switch control position of the yaw angle toward the other side are included. The dual linear yaw control includes a reflux control of the yaw angle toward one side and a linear control of the yaw angle toward the other side. 5. The foot controller of an ophthalmic surgical device according to claim 2, characterized in that the dominant foot information includes a left foot and a right foot, when the dominant foot information is the left foot, the yaw of the central pedal (3) includes a central yaw mode and a left yaw mode, when the dominant foot information is the right foot, the yaw of the central pedal (3) includes a central yaw mode and a right yaw mode, wherein: The central yaw mode is characterized by the central pedal (3) being located at the central position of the second movement interval, and the yaw angles of the central pedal (3) on both sides being the same. The left yaw mode is characterized by the central pedal (3) being offset to the right by a first angle, and the deflectable angle of the central pedal (3) to the right is smaller than the deflectable angle to the left; The right yaw mode is characterized by the central pedal (3) being deflected to the left by a second angle, and the deflectable angle of the central pedal (3) to the left is smaller than the deflectable angle to the right. 6. The foot controller of an ophthalmic surgical device according to claim 5, characterized in that it also comprises a control list generating module (7), which is used to obtain the pitch angle function item within the corresponding angle range within the first moving interval and the yaw angle function item within the corresponding angle range within the second moving interval defined by the function defining module (6), and generate a corresponding control list in combination with corresponding surgical information, wherein the control list includes corresponding control instructions; It also includes a central pedal control module (8), which is used to obtain the control list and wait for movement information generated on the central pedal (3), the movement information including pitch movement information and yaw movement information, and match corresponding control instructions in the control list based on the pitch movement information and the yaw movement information to control the corresponding target device, the pitch movement information including the pitch angle, and the yaw movement information including the yaw direction and the yaw angle. 7. The foot controller of ophthalmic surgical equipment according to claim 6, characterized in that: the central pedal control module (8) includes a single linear mode, a bilinear mode and a multi-linear mode when controlling the target device. In the single linear mode, the control instruction includes one or more pitch angle function items and a yaw angle function item of a single linear yaw control, In the bilinear mode, the control instruction includes one or more pitch angle function items and a yaw angle function item of a bilinear yaw control; In the multi-linear mode, the control instruction includes one or more pitch angle function items and multiple yaw angle function phases of bilinear yaw control and continuous action sequence information of their function phases. 8. The foot controller of ophthalmic surgical equipment according to claim 6 is characterized in that it also includes a command verification module (9), which is used to generate command verification information when a preset specified scenario occurs, and when the command verification information exists, the first operation on the yaw angle is recorded as a verification action, and the verification action is characterized in that the instruction corresponding to the function does not control the target device, and when the verification action is confirmed, the next operation on the yaw angle is recorded as the control of the target device. 9. The foot controller of ophthalmic surgical equipment according to claim 6 or 8, characterized in that: in the multi-linear mode, it also includes an instruction error correction module, which is used to obtain the action information of the central foot pedal (3), the action information including the action angle, action direction, and action sequence of the central foot pedal (3), and verify whether the action information is a continuous action according to the action time, and if so, determine whether there is a control instruction matching the action information in the control list; If so, controlling the corresponding target device according to the control instruction; If it does not exist, a damping increase instruction is generated to the central pedal (3) to perform action error correction and generate corresponding prompt information. 10. A control system, characterized in that it comprises an ophthalmic surgical equipment foot controller (1) as described in any one of claims 1 to 9, and further comprises a plurality of control interfaces, wherein the plurality of control interfaces are used to connect a plurality of target devices, and the foot controller (1) is used to control the target devices on the control interfaces according to the pitch angle function items and the yaw angle function items corresponding to the plurality of foot buttons and the central pedal (3).