Virtual sensor for vascular interventional surgical robotic system

Abstract

The invention discloses a virtual sensor for a vascular intervention surgical robot system which mainly consists of an image acquisition part, an image fitting part and a kinematic model part. The working method comprises a medical mirror image, a canny algorithm, a least square method, a positive kinematics model and force Jacobian matrix calculation, can overcome various defects of an actual sensor on a vascular intervention surgical robot auxiliary system in an actual surgery, and has very high practicability and researchability.

Description

technical field [0001] The invention belongs to the related fields of image processing, robotics technology and sensor technology, in particular a virtual sensor for a robot system of vascular interventional surgery, which is especially suitable for the application scene when the physical sensor has defects. Background technique [0002] There are two main types of sensors currently used in vascular interventional surgery robots to measure force information: the first type is an optical fiber pressure sensor, which needs to be installed on the catheter during measurement, and there are often existing problems when installed on the catheter. The disinfection problem when the sensor enters the blood vessel, and the portability is low. When the sensor is nested on the catheter, it needs to consider whether the catheter can meet the installation of the sensing element. The difference in various parameters such as the model of different catheters will affect whether it can be used...

AI Technical Summary

Problems solved by technology

[0002] There are two main types of sensors for measuring force information currently used in vascular interventional surgery robots: the first type is optical fiber pressure sensors, which need to be installed on catheters during measurement, and there are often existing problems when installed on catheters. The disinfection problem when the sensor enters the blood vessel, and the portability is low. When the sensor is nested on the catheter, it needs to consider whether the catheter can meet the installation of the sensing element. The difference in various parameters such as the model of different catheters will affect whether it can be used. Successful force measurement

The second type is the sensor installed outside the device, which pushes the mechanical structure to move after the catheter collides with the blood vessel wall, and calibrates the value of the force by measuring the displacement of the mechanical structure. The frictional forces that exist between the parts cannot be resolved and furthermore, the force at the end of the catheter cannot be measured directly

Therefore, there are great defects in physical sensors or physical measurement methods in vascular interventional surgery that require high precision, which has brought certain limitations to the in-depth development of this field.

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