CN115811819A - A bracelet-guided intelligent shadowless lamp system - Google Patents

Abstract

A bracelet-oriented intelligent shadowless lamp system comprises a shadowless lamp and a lamp bracket thereof, a camera, a bracelet remote control device and a control center; the shadowless lamp is arranged above the operating table through a lamp bracket and is in communication connection with the bracelet remote control device through a control center, and the camera is arranged on the shadowless lamp and one side of the operating table; the bracelet remote control device comprises a gyroscope, an input device and a signal transmitting device, wherein the input device and the gyroscope are respectively electrically connected with the signal transmitting device. The system realizes the adjustment of the position, the illumination angle and the brightness of the shadowless lamp through gesture recognition, is simple and convenient to operate, and simultaneously avoids touching an operator or blocking light rays by the operator in the moving process of the shadowless lamp through the image acquisition of the camera, thereby realizing good illumination effect; based on the bracelet realization, the precision can be guaranteed, with low costs facilitate promotion.

Description

A bracelet-guided intelligent shadowless lamp system

technical field

The invention relates to the field of medical equipment and surgical instruments, in particular to a bracelet-guided intelligent shadowless lamp system.

Background technique

The surgical shadowless lamp is used to illuminate the surgical site during the operation, which can minimize the shadow of the irradiated site and best observe small, low-contrast objects at different depths in the incision and body cavity. However, the shadowless lamp currently used in the operating room needs to be adjusted with the assistance of the itinerant nurse, or the surgeon can adjust the irradiation position through the sterile lamp handle. During the operation, it is necessary to adjust the position and direction of the shadowless lamp according to the different surgical positions and surgical sites, and repeatedly adjust the position of the shadowless lamp, resulting in poor lighting effect due to the deviation of the adjusted position, and the collision of the connecting rod during the adjustment process. And the body encounters problems such as bacteria-bearing areas. The currently developed shadowless lamp, such as CN202110774333.X, is a remote control operation shadowless lamp. Although the position of the shadowless lamp can be remotely adjusted, there are problems that the adjustment position is not accurate enough and the mechanical device is not flexible enough. CN202010224828.0 An intelligent shadowless lamp control system and method capable of automatically tracking a scalpel. Although the light can track the scalpel, it cannot accurately illuminate the deep surgical incision through a specific angle. CN202020288516.1, a voice shadowless lamp, also has a shadowless lamp that can be adjusted by voice, but it has extremely high requirements for the accuracy of the description, and it is difficult to accurately locate it during the operation.

Contents of the invention

The present invention aims to design a new wristband-guided intelligent shadowless lamp system, which can intelligently plan the movement trajectory through the control center through the wristband remote control device and the camera, and finally reach the designated position to illuminate the required position at a specific angle, and during operation There is no problem of being in contact with the operator or being blocked by the operator.

A wristband-guided intelligent shadowless lamp system, including a shadowless lamp and its lamp holder, a camera, a wristband remote control device and a control center;

The shadowless lamp is installed above the operating table through a light stand containing mechanical joints, and communicates with the bracelet remote control device through the control center. The camera is installed on the side of the shadowless lamp and the operating table; the control center is connected to the mechanical joints and is responsible for receiving the output of the remote control device The signal is then converted into corresponding coordinates and output to the mechanical joints, and the shadowless lamp is adjusted to the specified position through the servo motor to drive the mechanical joints according to the coordinates;

The bracelet remote control device includes a gyroscope, an input device and a signal transmitting device, and the input device and the gyroscope are electrically connected to the signal transmitting device respectively.

The camera collects the position images of the patient on the operating table and surrounding surgeons, and transmits them to the control center.

The gyroscope of the bracelet remote control device collects the movement and rotation information of the user's wrist, and the signal transmitting device transmits the movement information and rotation information to the control center.

The control center converts the movement information into the position command of the shadowless lamp, and converts the rotation information into the angle command of the shadowless lamp, and then adjusts the position and angle of the shadowless lamp through the light stand.

The position command of the shadowless lamp includes the irradiation position and direction, and the target pose of the shadowless lamp.

After the control center processes the movement information and rotation information, combined with the position image given by the camera, the artificial potential field method is used for real-time path planning to avoid the collision between the shadowless lamp and the operator, and to prevent the operator from blocking the shadowless light.

The input device of the wristband remote control device receives brightness adjustment information, and is transmitted to the control center by the signal transmitter to adjust the brightness of the shadowless lamp.

The beneficial effects that the present invention reaches are:

(1) An intelligent shadowless lamp system based on wristband control is proposed. The position, irradiation angle and brightness of the shadowless lamp can be adjusted through gesture recognition. The operation is simple and convenient, which improves the efficiency of the operation and avoids touching the area with bacteria when manually adjusting the lamp stand. lead to accidental infection;

(2) Collect images through the camera, design the planning of the moving path of the shadowless lamp based on the artificial potential field method, avoid encountering the operator or being blocked by the operator during the movement of the shadowless lamp, and achieve better lighting effects;

(3) Based on the implementation of the wristband, the calculation method of the irradiation position and direction and the target pose of the shadowless lamp are designed, the adjustment accuracy can be guaranteed, and the cost is low and easy to promote.

Description of drawings

Fig. 1 is a schematic diagram of the application of the intelligent shadowless lamp system described in the embodiment of the present invention.

Fig. 2 is an application top view of the intelligent shadowless lamp system described in the embodiment of the present invention.

Fig. 3 is an application side view of the intelligent shadowless lamp system described in the embodiment of the present invention.

Fig. 4 is an application front view of the intelligent shadowless lamp system described in the embodiment of the present invention.

Fig. 5 is a side view of the mechanical joint described in the embodiment of the present invention.

Fig. 6 is another side view of the mechanical joint described in the embodiment of the present invention.

Fig. 7 is an internal circuit diagram of the bracelet remote control device described in the embodiment of the present invention.

Fig. 8 is a schematic diagram of the calculation of the irradiation position described in the embodiment of the present invention.

Fig. 9 is a schematic diagram of the calculation of the irradiation direction and the target pose of the shadowless lamp described in the embodiment of the present invention.

In the figure, 1-bracelet remote control device, 2-shadowless lamp, 3-light stand, 4-control center, 5-camera.

Detailed ways

The technical solution of the present invention will be further described in detail below in conjunction with the accompanying drawings.

A wristband-guided intelligent shadowless lamp system, referring to FIG.

The shadowless lamp 2 is installed above the operating table through the lamp holder 3, and communicates with the wristband remote control device through the control center 4. The camera 5 is installed on one side of the shadowless lamp 2 and the operating table. Referring to Fig. 1, in this embodiment, the control center 4 is set as a control terminal, installed on the top of the operating room, which includes the drive motor of the light frame 3, and controls the movement of the light frame back and forth, left and right, and up and down, so as to realize the positioning of the shadowless lamp 2. control. In addition, the shadowless lamp 2 and the lamp stand 3 can be connected through a mechanical joint, and the mechanical joint is also controlled by the control center 4, thereby controlling the irradiation angle of the shadowless lamp 2 .

The wristband remote control device 1 includes a gyroscope, an input device, a signal transmitting device, a positioning device, a brightness adjustment button, and the input device and the gyroscope are respectively electrically connected to the signal transmitting device. The gyroscope of the wristband remote control device 1 collects movement and rotation information of the wrist, and the signal transmitting device transmits the movement information and rotation information to the control center 4 .

The camera 5 collects position images of the patient on the operating table and the surrounding operators, and transmits the images to the control center 4 .

The control center 4 converts the movement information into a position command of the shadowless lamp, converts the rotation information into an angle command of the shadowless lamp, and then adjusts the position and angle of the shadowless lamp 2 through the lamp holder 3 . The control center 4 processes the moving information and forwarding information, and plans the movement trajectory of the light stand 3 in combination with the position image given by the camera, so as to avoid contact with the subject and the operator during the moving process of the shadowless light 2 and prevent the operator from blocking the light of the shadowless light.

The input device of the bracelet remote control device 1 receives the brightness adjustment information, and the signal transmission device transmits it to the control center 4 to adjust the brightness of the shadowless lamp 2 . The input device can be a touch screen.

The specific workflow of the system is as follows:

(1) The operator wears a bracelet and sets the original parameters. The parameters include the height and brightness of the operating light and the position of the light spot, and the distance between the bracelet remote control device 1 and the finger. There is a positioning device inside the bracelet, which can locate the spatial position of the bracelet on the operating table. On the bracelet, you can input the distance from the bracelet to the index finger (for example: 20cm), and add the spatial position of the bracelet to the distance between the bracelet and the index finger. The spatial position of the index finger on the operating table can be determined, and the transmission can be expressed in the data of spatial coordinates, that is, the position of the index finger is the ideal irradiation point for the operator.

(2) When the position of the spot needs to be adjusted during the operation (when the patient's body position changes), wake up the adjustment function of the wristband; the wakeup can be done by clicking the input device of the wristband remote control device 1, or other forms such as voice wakeup.

(3) According to the previously set position of the index finger, the ideal irradiation point of the surgeon can be determined; the bracelet, palm and finger joints are on the same straight line. Or the ideal shadowless lamp irradiation angle; and use the button on the wristband to adjust the corresponding brightness.

(4) The gyroscope in the wristband records the inclination angle of the wrist, which is the angle at which the operator wants the shadowless light to enter (the data pointed by the finger is the adjustable ideal irradiation point set before the operation), and the parameters of the irradiation point Values and brightness adjustment information are transmitted to the control center.

(5) The control center intelligently plans the movement trajectory of the light stand after calculating the angle and corresponding parameters; at the same time, the camera provides the position of the patient on the operating table and the operator around the operating table to avoid contact with the patient and the operator during the movement of the shadowless lamp Contact occurs, and at the same time prevent the operator from blocking the shadowless light.

(6) The shadowless lamp moves to the designated position according to the calculated trajectory, adjusts the brightness and angle, and finally illuminates the desired position.

Referring to Figure 2-4, the example application description of this intelligent shadowless lamp system: the index finger is located at the irradiation point, the wrist is perpendicular to the operating table, and the light from the shadowless lamp above is irradiated on the position of the index finger in a direction perpendicular to the operating table: the patient's body position changes, The index finger is located at the irradiation point, and the wrist is at a 60-degree angle to the operating table. The shadowless lamp prevents the light from being blocked by the operator according to the camera. irradiation point.

Each component in the system will be described in detail with reference to the accompanying drawings.

For the bracelet remote control device 1, a single-chip microcomputer, an inertial measurement unit (IMU) and a Zigbee module are embedded (as shown in FIG. 7 ). Among them, the IMU has a built-in three-axis gyroscope, an accelerometer, and a magnetometer. According to the internal integrated strapdown inertial navigation algorithm, it can provide the coordinate system fixedly connected with the wristband relative to the northeast sky coordinate system. After coordinate transformation and calibration, it can Obtain the three-dimensional position (x, y, z) and Euler angle (α, β, γ) of the wristband coordinate system relative to the global coordinate system; after receiving the pose information of the wristband coordinate system, the MCU sends it to Zigbee through the serial port protocol module, and the Zigbee module sends the position and orientation information of the wristband coordinate system to the control center 4 in real time through the Zigbee communication protocol in a wireless transmission manner.

In the process of adjusting the position and angle of the shadowless lamp, the operator's index finger points to the position P _f that needs to be illuminated, and the shadowless lamp will align the light at P _f . Then, the operator adjusts the posture of the bracelet by turning the forearm to control the shadowless lamp. Irradiation angle. The shadowless lamp system calculates the irradiation position P _f and the irradiation direction according to the pose information of the wristband coordinate system (three-dimensional coordinates and Euler angle). The specific calculation method is as follows. The calculation method is as follows. The coordinates, angles, vectors, and rotations involved in the calculation method The matrices are all relative to a unified global coordinate system, and each coordinate system (bracelet coordinate system, external camera coordinate system, shadowless lamp coordinate system, northeast sky coordinate system) is calibrated and unified:

Calculation of the irradiation position P _f : Considering that the origin P _wrist of the wristband coordinate system (as shown in Figure 8) does not coincide with the starting point of the index finger direction (ie, the metacarpophalangeal joint) P _hand , and there is a certain angle between the index finger direction and the X axis of the wristband coordinate system , it is necessary to make corresponding compensation through the geometric dimensions as shown in Figure 8, so as to obtain a more accurate indexing direction and the starting point position of the indexing direction. First, calculate the rotation matrix corresponding to the wristband coordinate system according to the Euler angle:

Among them, the first column of the rotation matrix R is the unit vector corresponding to the X-axis of the bracelet coordinate system:

The third column of the rotation matrix R is the unit vector corresponding to the Z axis of the bracelet coordinate system:

The included angle θ ₁ between the direction of the index finger and the X-axis direction of the shadowless lamp coordinate system, and the distance deviation d1 and d2 between the origin of the bracelet coordinate system P _wrist and the node P _{hand of} the index finger are all compensations that can be set before surgery, and the default can be set The values are 30°, 3mm, 12mm respectively. According to the diagram, the angle between the X-axis of the wristband coordinate system and the direction of the index finger is θ ₁ , and the unit vector of the direction of the index finger can be calculated as:

The coordinates of the starting point P _hand in the direction of the index finger are:

手术台平面高度h₁计算出术者食指指向的照射点P_f的三维坐标：According to the starting point P _hand of the indexing direction and the unit vector corresponding to the indexing direction

Calculate the three-dimensional coordinates of the irradiation point P _f pointed by the operator's index finger from the plane height h ₁ of the operating table:

的俯仰角与偏航角保持一致，照射方向的俯仰角φ，与偏航角θ如图9所示。C是术者的几何中心，由外置深度视觉摄像头5通过YOLO算法给出，A是无影灯的几何中心在水平面上的投影，计算俯仰角时，以水平面为基准面，照射方向B-Pf与水平面上的P_f-A所成夹角即为俯仰角φ，计算偏航角时，以术者所在竖直面作为基准面，无影灯所在竖直平面P_f-A-D与术者几何中心所在竖直平面P_f-C-D-E所成夹角为照射方向的偏航角θ。术者通过手环来控制无影灯照射的角度，照射方向的俯仰角及偏航角始终与修正过后的示指方向的俯仰角及偏航角保持一致。无影灯系统根据照射点坐标P_f、照射方向俯仰角φ及偏航角θ、以及无影灯高度的设定值h来计算无影灯处于的位置和姿态。Calculation of the irradiation direction and the target pose of the shadowless lamp: Referring to Figure 9, the shadowless lamp system adjusts the angle of the lamp surface of the shadowless lamp through the servo motor and the connecting rod, so that the pitch angle and yaw angle of the irradiation direction are the same as the indexing direction

The pitch angle and the yaw angle are consistent, and the pitch angle φ and yaw angle θ of the irradiation direction are shown in Figure 9. C is the geometric center of the operator, which is given by the external depth vision camera 5 through the YOLO algorithm. A is the projection of the geometric center of the shadowless lamp on the horizontal plane. When calculating the pitch angle, the horizontal plane is used as the reference plane, and the irradiation direction B-Pf is the same as The angle formed by P _f -A on the horizontal plane is the pitch angle φ. When calculating the yaw angle, the vertical plane where the operator is located is taken as the reference plane, and the vertical plane P _f -AD where the shadowless lamp is located is vertical to the geometric center of the operator. The angle formed by the straight plane P _f -CDE is the yaw angle θ of the irradiation direction. The operator controls the irradiation angle of the shadowless lamp through the bracelet, and the pitch angle and yaw angle of the irradiation direction are always consistent with the corrected pitch angle and yaw angle of the index direction. The shadowless lamp system calculates the position and attitude of the shadowless lamp according to the coordinates of the irradiation point P _f , the pitch angle φ and the yaw angle θ of the irradiation direction, and the set value h of the height of the shadowless lamp.

The three-dimensional coordinates of the target position of the shadowless lamp are as follows:

At the same time, the shadowless lamp needs to adjust the angle so that the surface of the shadowless lamp is perpendicular to the irradiation direction.

The shadowless lamp system plans the movement trajectory according to the target pose of the shadowless lamp, as well as the position of the operator and surrounding operators (obtained through an external camera). Considering that the operator may move during the adjustment of the pose of the shadowless lamp, the system uses an artificial potential field Real-time path planning can be performed to avoid possible collisions between the shadowless lamp and the operator. The artificial potential field method generates a gravitational field near the target position of the shadowless lamp, and regards the operator and surrounding operators as obstacles, and generates a repulsive field around it, so that the shadowless lamp can quickly approach the target position while avoiding obstacles. The algorithm formula is as follows:

Among them, U ^att is the potential energy of the gravitational field generated by the target position of the shadowless lamp, U ^rep is the potential energy of the repulsive field generated by the i-th operator, B is the three-dimensional coordinates of the current position of the shadowless lamp, B _goal is the target position of the shadowless lamp, and _Pi is The three-dimensional coordinates of the i-th operator's geometric center, ||BB ^goal || indicates the distance between the shadowless lamp and its target position, ε and η are potential field scaling factors, d _goal and d _rep are the influence ranges of the gravitational field and the repulsive field respectively threshold. The shadowless lamp moves towards its target position under the influence of the gravitational field and the repulsive field at the same time, and can avoid collision with the operator during the process. The calculation formula of the shadowless lamp's speed is as follows:

是实时规划的无影灯的速度，U是无影灯当前位置的引力与斥力的合势场，

是势场在无影灯当前位置的梯度。随后，控制中心4将无影灯移动速度

通过雅克比矩阵J和机器人逆向运动学公式转换为无影灯连杆驱动机构的伺服电机的轴旋转速度，并发送给无影灯灯架3，将无影灯从当前位置移动到目标位置。in,

is the speed of the shadowless lamp planned in real time, U is the resultant potential field of the gravitational and repulsive forces at the current position of the shadowless lamp,

is the gradient of the potential field at the current position of the shadowless lamp. Subsequently, the control center 4 will move the speed of the shadowless lamp

Through the Jacobian matrix J and the inverse kinematics formula of the robot, it is converted into the shaft rotation speed of the servo motor of the connecting rod drive mechanism of the shadowless lamp, and sent to the lamp frame 3 of the shadowless lamp to move the shadowless lamp from the current position to the target position.

The above descriptions are only preferred embodiments of the present invention, and the scope of protection of the present invention is not limited to the above embodiments, but all equivalent modifications or changes made by those of ordinary skill in the art according to the disclosure of the present invention should be included within the scope of protection described in the claims.

Claims (10)

1. A bracelet-guided intelligent shadowless lamp system, characterized in that: The system includes a shadowless lamp and its lamp holder, a camera, a wristband remote control device and a control center; The shadowless lamp is installed above the operating table through a light stand containing mechanical joints, and communicates with the remote control device of the bracelet through the control center. The camera is installed on one side of the shadowless lamp and the operating table; the control center is connected to the mechanical joints and is responsible for receiving The output signal of the remote control device is then converted into corresponding coordinates and output to the mechanical joints, and the shadowless lamp is adjusted to the specified position through the servo motor to drive the mechanical joints according to the coordinates; The bracelet remote control device includes a gyroscope, an input device and a signal transmitting device, and the input device and the gyroscope are respectively electrically connected to the signal transmitting device. 2. A wristband-guided intelligent shadowless lamp system according to claim 1, characterized in that: the camera collects the position images of the subject and surrounding operators on the operating table and transmits them to the control center. 3. A wristband-guided intelligent shadowless lamp system according to claim 1, characterized in that: the gyroscope of the wristband remote control device collects the movement and rotation information of the user's wrist, and the movement and rotation information is transmitted by the signal transmitting device. Information and rotation information are transmitted to the control center. 4. A bracelet-guided intelligent shadowless lamp system according to claim 3, characterized in that: the bracelet remote control device includes a single-chip microcomputer, an inertial measurement unit (IMU) and a Zigbee module; a three-axis gyroscope, an accelerometer, a magnetic force After coordinate transformation and calibration, the three-dimensional position (x, y, z) and Euler angle (α, β, γ) of the bracelet coordinate system relative to the global coordinate system are obtained; the single-chip computer receives the three-dimensional position of the bracelet coordinate system and the Euler angle Then the information of the angle is sent to the Zigbee module through the serial port protocol, and the Zigbee module sends the position and posture information of the wristband coordinate system to the control center in real time through the Zigbee communication protocol in a wireless transmission manner. 5. A wristband-guided intelligent shadowless lamp system according to claim 4, characterized in that: the control center converts the movement information into the shadowless lamp position command, converts the rotation information into the shadowless lamp angle command, and then adjusts it through the light frame The position and angle of the shadowless lamp. 6. A bracelet-guided intelligent shadowless lamp system according to claim 5, characterized in that: the shadowless lamp position instruction includes the irradiation position _Pf , the irradiation direction and the target pose of the shadowless lamp. 7. A bracelet-guided intelligent shadowless lamp system according to claim 6, characterized in that: the calculation of the irradiation position _Pf : consider that the origin P _wrist of the wristband coordinate system does not coincide with the starting point P _hand of the index finger direction, and the index finger There is a certain angle between the direction and the X-axis of the wristband coordinate system, and corresponding compensation is required to obtain the direction of the index finger and the starting position of the index finger direction; first, the rotation matrix corresponding to the wristband coordinate system is calculated according to the Euler angle:

Among them, the first column of the rotation matrix R is the unit vector corresponding to the X-axis of the bracelet coordinate system:

The third column of the rotation matrix R is the unit vector corresponding to the Z axis of the bracelet coordinate system:

The included angle θ ₁ between the direction of the index finger and the X-axis direction of the coordinate system of the shadowless lamp, and the distance deviation d1 and d2 between the origin P _wrist of the coordinate system of the wristband and the node P _{hand of} the index finger are the compensations set before operation; the coordinate system X of the wristband The angle between the axis and the index direction is θ ₁ , and the unit vector of the index direction is calculated as:

The coordinates of the starting point P _hand in the direction of the index finger are:

According to the starting point P _hand of the indexing direction, the unit vector corresponding to the indexing direction

Calculate the three-dimensional coordinates of the irradiation point P _f pointed by the operator's index finger from the plane height h ₁ of the operating table:

8. A wristband-guided intelligent shadowless lamp system according to claim 6, characterized in that: the calculation of the irradiation direction and the target pose of the shadowless lamp: adjust the angle of the lamp surface of the shadowless lamp through the servo motor and mechanical joints, so that the irradiation direction The pitch angle φ and yaw angle θ are consistent with the pitch angle and yaw angle of the index direction; C is the geometric center of the operator, which is given by the external depth vision camera through the YOLO algorithm, and A is the geometric center of the shadowless lamp on the horizontal plane When calculating the pitch angle, take the horizontal plane as the reference plane, and the angle formed by the irradiation direction B-Pf and P _f -A on the horizontal plane is the pitch angle φ. When calculating the yaw angle, take the vertical plane where the operator is located As a reference plane, the angle formed by the vertical plane P _f -AD where the shadowless lamp is located and the vertical plane P _f -CDE where the operator’s geometric center is located is the yaw angle θ of the irradiation direction; the operator controls the irradiation angle of the shadowless lamp through the bracelet , the pitch angle and yaw angle of the irradiation direction are always consistent with the corrected pitch angle and yaw angle of the index direction; the shadowless lamp system is based on the coordinates of the irradiation point P _f , the pitch angle φ and yaw angle θ of the irradiation direction, and the height of the shadowless lamp The set value h to calculate the position and attitude of the shadowless lamp; The three-dimensional coordinates of the target position of the shadowless lamp are as follows:

At the same time, the shadowless lamp needs to adjust the angle so that the surface of the shadowless lamp is perpendicular to the irradiation direction. 9. A bracelet-guided intelligent shadowless lamp system according to claim 3, characterized in that: after the control center processes the movement information and rotation information, combined with the position image given by the camera, the artificial potential field method is used for real-time path planning To avoid the collision between the shadowless lamp and the operator, and to prevent the operator from blocking the light of the shadowless lamp; The artificial potential field method generates a gravitational field near the target position of the shadowless lamp, and regards the operator and surrounding operators as obstacles, and generates a repulsive force field around it, so that the shadowless lamp moves closer to the target position while avoiding obstacles. The formula is as follows:

Among them, U ^att is the potential energy of the gravitational field generated by the target position of the shadowless lamp, U ^rep is the potential energy of the repulsive field generated by the i-th operator, B is the three-dimensional coordinates of the current position of the shadowless lamp, B _goal is the target position of the shadowless lamp, and _Pi is The three-dimensional coordinates of the i-th operator's geometric center, ||BB ^goal || indicates the distance between the shadowless lamp and its target position, ε and η are potential field scaling factors, d _goal and d _rep are the influence ranges of the gravitational field and the repulsive field respectively Threshold; the shadowless lamp moves towards its target position under the influence of the gravitational field and the repulsive field at the same time, and avoids collision with the operator during the process. The calculation formula of the shadowless lamp's speed is as follows:

in,

is the speed of the shadowless lamp planned in real time, U is the resultant potential field of the gravitational and repulsive forces at the current position of the shadowless lamp,

is the gradient of the potential field at the current position of the shadowless lamp; then, the control center will move the speed of the shadowless lamp

Through the Jacobian matrix J and the inverse kinematics formula of the robot, it is converted into the shaft rotation speed of the servo motor of the mechanical joint drive mechanism of the shadowless lamp, and sent to the lamp holder of the shadowless lamp to move the shadowless lamp from the current position to the target position. 10. A wristband-guided intelligent shadowless lamp system according to claim 1, characterized in that: the input device of the wristband remote control device receives brightness adjustment information, and is transmitted to the control center by the signal transmitting device to adjust the brightness of the shadowless lamp. Adjustment.

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