A vascular interventional surgery robot with force feedback function

Abstract

The present invention relates to a vascular interventional surgical robot with a force feedback function, which consists of a master-end mechanism and a slave-end mechanism. The master-end mechanism includes a display, a master-end control box and a master-end console, and the master-end control box is embedded in the master-end console; the master-end control box is provided with a catheter forward and backward control knob, a guidewire rotation control knob, and a guidewire forward and backward control knob, which respectively realize the catheter forward and backward control, the guidewire rotation control, and the guidewire forward and backward control, and the catheter and guidewire forward and backward control knobs are respectively connected to the catheter force feedback device and the guidewire force feedback device; the slave-end mechanism includes an operating table, a bracket and a slave-end control box, the bracket is fixed on the operating table, and the slave-end control box is fixed to the end of the bracket; the present invention can truly collect the force conditions of the guidewire and the catheter in the blood vessel, and map them to the master-end operating mechanism, restoring the doctor's on-the-spot feeling during the operation, thereby reducing the surgical risk and improving the surgical accuracy.

Description

[Technical field]

[0001] The present invention belongs to the technical field of medical devices, and in particular to a vascular interventional surgery robot with a force feedback function. [Background Technology]

[0002] In recent years, with rising living standards, cardiovascular disease has become the leading cause of death worldwide. Vascular interventional surgery requires extensive clinical experience for the surgeon. However, in most remote areas, there are fewer doctors than patients. Furthermore, the surgeons must wear heavy lead suits and be exposed to radiation for extended periods during interventional procedures, which increases the workload and the risk of cancer.

[0003] Vascular interventional robots utilize teleoperation technology. The operator directly controls the movements of the master device, and the controller transmits control signals to the slave devices, which then synchronously complete the corresponding operations. This master-slave operation method effectively alleviates the issue of radiation exposure for doctors during interventional procedures. Its remote teleoperation feature allows experienced doctors to perform surgeries remotely in resource-limited areas, thereby enabling the sharing of medical resources.

[0004] During actual surgery, doctors rely on force feedback from pushing a guidewire or catheter with their hands, combined with images from a DR device, to determine the guidewire's or catheter's movement within the blood vessel. Currently, vascular interventional robots on the market implement force feedback by using specialized sensor-equipped guidewires or catheters or by installing a large number of sensors on the end device. This approach is complex and increases surgical costs. [Summary of the invention]

[0005] The purpose of the present invention is to solve the above-mentioned deficiencies and provide a vascular interventional surgical robot with force feedback function, which can truly collect the force conditions of the guidewire and catheter in the blood vessel and map them to the main-end operating mechanism, restoring the doctor's on-the-spot feeling during the operation, thereby reducing surgical risks and improving surgical accuracy.

[0006] In order to achieve the above purpose, a vascular interventional surgical robot with force feedback function is designed, which consists of a master-end mechanism and a slave-end mechanism. The master-end mechanism includes a display 1, a master-end control box 2 and a master-end console 3. The master-end control box 2 is embedded in the master-end console 3. The display 1 is used to display images; the master-end control box 2 is provided with a catheter forward and backward control knob 7, a guidewire rotation control knob 8, a guidewire forward and backward control knob 9, an emergency stop button 10 and an enable button 11. The catheter forward and backward control knob 7, the guidewire rotation control knob 8, the guidewire forward and backward control knob 9 are They are respectively used to realize catheter forward and backward control, guidewire rotation control, and guidewire forward and backward control. The catheter forward and backward control knob 7 and the guidewire forward and backward control knob 9 are respectively connected to the catheter force feedback device and the guidewire force feedback device. The catheter force feedback device and the guidewire force feedback device are arranged in the master-end control box 2; the slave-end mechanism includes an operating table 4, a bracket 5 and a slave-end control box 6, the bracket 5 is fixed on the operating table 4, and the end of the bracket 5 is fixed with the slave-end control box 6, and is used to adjust the posture of the slave-end control box 6, and the slave-end control mechanism force feedback system is installed on the slave-end control box 6.

[0007] Furthermore, the guide wire force feedback device includes a driving wheel 12, a force feedback mechanism 13, an encoder 14 and a driven wheel 15. The driving wheel 12 is connected to the driven wheel 15 through a belt. The driving wheel 12 is connected to the guide wire forward and backward control knob 9. The force feedback mechanism 13 is composed of a motor and a cam. The output end of the motor is connected to the cam and drives the cam to move. The cam is connected to the belt, and the cam applies pressure to the belt to transfer force to the guide wire forward and backward control knob 9; the encoder 14 is connected to the driven wheel 15, and the encoder 14 is used to obtain the distance the main end controls the guide wire movement.

[0008] Furthermore, the structure of the catheter force feedback device is the same as that of the guidewire force feedback device.

[0009] Furthermore, the force feedback mechanism 13 maps the force applied to the guidewire in the blood vessel collected by the end mechanism to the pressure on the belt in real time, and transmits it to the guidewire forward and backward control knob 9. The guidewire forward and backward control knob 9 is fed back to the doctor's operating end through the knob force. The force feedback method of the catheter forward and backward control knob 7 is the same as that of the guidewire forward and backward control knob 9.

[0010] Furthermore, the force feedback system of the slave control mechanism includes a camera 16, a bracket 17, a guide wire or catheter 18 and a marking frame 19. The slave control box 6 is made of transparent material. The bracket 17, the guide wire or catheter 18, and the marking frame 19 are arranged on the slave control box 6. The guide wire or catheter 18 is transported to the human body channel through the bracket 17. The guide wire or catheter 18 moves in the marking frame 19 and the range of movement does not exceed the marking frame 19. The marking frame 19 is a square groove. The camera 16 is installed at the bottom of the slave control box 6. The camera 16 obtains image data of the bracket 17, the guide wire or catheter 18, and the marking frame 19 from bottom to top.

[0011] The present invention also provides a master-slave force feedback method for a vascular interventional surgical robot with a force feedback function, comprising the following steps: (1) first, single-frame processing is performed on the video obtained by the camera, appropriate repair is performed on the single-frame image, an algorithm is applied to remove reflections, and the original data of the target area image is obtained; (2) then, the pre-processed image is reprocessed to produce a binary mask image of the guidewire or catheter, and the bending height of the guidewire or catheter in the marking frame 19 is calculated; (3) the curvature of the guidewire or catheter obtained by the image processing algorithm is processed, the curvature is mapped to the force condition of the guidewire or catheter in the blood vessel, and the force exerted on the mapped guidewire is fed back to the force feedback mechanism 13, the force feedback mechanism 13 adjusts the angle of the cam, outputs the corresponding pressure to the belt, and transmits the pressure to the guidewire forward and backward control knob 9 through the active wheel 12; the force feedback mode of the catheter is mapped to the catheter forward and backward control knob 7 similarly to the guidewire; the doctor remotely senses the force condition of the slave end guidewire and catheter in the blood vessel through the guidewire forward and backward control knob 9 and the catheter forward and backward control knob 7.

[0012] Furthermore, the camera single-frame image preprocessing includes the following steps: 1) first read the single image frame data in the camera video stream; 2) perform appropriate image repair on the reflective area in the image frame; 3) identify the area marked with a blue box by color, and binarize the original image based on the color; 4) then perform connected area analysis on the binarized image; 5) use the blue box as the boundary, retain the original image data in the target area, and retain the mask of the same size as the target area.

[0013] Furthermore, the method for calculating the curvature of a guidewire or catheter includes the following steps: after obtaining the preprocessed collected data, considering that the guidewire or catheter may be stained with blood during interventional surgery and the noise in the target area is mostly red, the red single-channel data is extracted for processing, and then the candidate area where the guidewire or catheter is located is extracted; Gaussian blur is performed on the red channel image, and the guidewire or catheter is segmented using an adaptive threshold; the area of ​​the connected domain is counted, and if the number is less than the set threshold, it is discarded as noise; if it is greater than the set threshold, the data of the detected guidewire or catheter is added to the data memory for visualization; finally, the guidewire bending height is calculated based on the binary mask image of the guidewire or catheter.

[0014] Furthermore, after obtaining the curvature of the guidewire or catheter, the force exerted on the guidewire or catheter is fed back to the force feedback mechanism 13 of the main end mechanism; the range of the force transmitted back by the guidewire or catheter in the blood vessel is 0-10N, and the main end force feedback mechanism 13 outputs the knob force of the corresponding knob according to the angle of the cam pressure belt, and the output knob force range is 0-10N; when the force exerted on the guidewire or catheter in the blood vessel is greater than 10N, the force feedback mechanism 13 rotates the cam to 90° to press the belt as tight as possible, so that the torque of the guidewire forward and backward control knob 9 or the catheter forward and backward control knob 7 is increased to the maximum.

[0015] Compared with the prior art, the present invention has the following advantages:

[0016] (1) The present invention uses machine vision technology to accurately capture the force applied to the guidewire and catheter in the blood vessel and maps it to the main operating mechanism, restoring the doctor's on-site experience during the operation, thereby reducing surgical risks and improving surgical accuracy.

[0017] (2) The present invention can accurately obtain the force conditions of the guidewire or catheter in the blood vessel without installing sensors at the front end of the guidewire or catheter and in the slave end mechanism, and the master end mechanism can restore the doctor's hand feeling when pushing the guidewire or catheter;

[0018] (3) The present invention not only helps doctors avoid prolonged exposure to radiation during interventional surgery, but also enables the sharing of medical resources, thereby reducing surgical costs while improving surgical accuracy, and is worthy of promotion and application. [Brief Description of the Drawings]

[0019] Figure 1a Schematic diagram 1 of the overall structure of the vascular intervention robot of the present invention;

[0020] Figure 1b The overall structure of the vascular intervention robot of the present invention is shown in FIG. Figure 2 ;

[0021] Figure 2 This is a schematic diagram of the main terminal control box of the vascular intervention robot of the present invention;

[0022] Figure 3 This is a schematic diagram of the force feedback system of the master end of the vascular intervention robot of the present invention;

[0023] Figure 4 This is a schematic diagram of the slave control box of the vascular intervention robot of the present invention;

[0024] Figure 5 This is a top view of the control box at the slave end of the vascular intervention robot of the present invention;

[0025] Figure 6 Schematic diagram of the target area of ​​the guidewire or catheter of the present invention;

[0026] Figure 7 This is a flow chart of the camera single-frame image preprocessing algorithm of the present invention;

[0027] Figure 8 This is a flow chart of a method for calculating the curvature of a guidewire or catheter according to the present invention;

[0028] Figure 9 This is a flow chart of the master-slave force feedback of the vascular intervention robot of the present invention;

[0029] In the figure: 1, display 2, master-end control box 3, master-end console 4, operating table 5, bracket 6, slave-end control box 7, catheter forward and backward control knob 8, guidewire rotation control knob 9, guidewire forward and backward control knob 10, emergency stop button 11, enable button 12, driving wheel 13, force feedback mechanism 14, encoder 15, driven wheel 16, camera 17, bracket 2 18, guidewire or catheter 19, marking frame. [Specific implementation method]

[0030] The present invention provides a vascular interventional surgical robot with master-slave control, and more particularly relates to a vascular interventional surgical robot solution with a force feedback function; the vascular interventional surgical robot with a force feedback function consists of a master-end mechanism and a slave-end mechanism; the master-end mechanism consists of a display 1, a master-end control box 2 and a master-end console 3, the master-end control box 2 is embedded in the master-end console 3, and is used to collect the doctor's operation information, so as to realize the interaction function between the doctor and the slave-end mechanism; the X-ray exposure image of the guidewire or catheter in the blood vessel is displayed on the display 1; three knobs that can be rotated at any angle are provided on the master-end control box 2, namely a catheter forward and backward control knob 7, a guidewire rotation control knob 8, and a guidewire forward and backward control knob Button 9, an emergency stop button 10 and an enable button 11 are also provided, the catheter forward and backward control knob 7, the guidewire rotation control knob 8, and the guidewire forward and backward control knob 9 are respectively used to realize the catheter forward and backward control, the guidewire rotation control, and the guidewire forward and backward control, the catheter forward and backward control knob 7, and the guidewire forward and backward control knob 9 are respectively connected to the catheter force feedback device and the guidewire force feedback device, the catheter force feedback device and the guidewire force feedback device are arranged in the master-end control box 2; the slave-end mechanism consists of an operating table 4, a bracket 5 and a slave-end control box 6, the bracket 5 is fixed on the operating table 4, and is used to adjust the posture of the slave-end control box 6, the slave-end control box 6 is fixed to the end of the bracket 5, and the slave-end control mechanism force feedback system is installed on the slave-end control box 6.

[0031] The guidewire force feedback device includes a driving wheel 12, a force feedback mechanism 13, an encoder 14, and a driven wheel 15. The driving wheel 12 is connected to the driven wheel 15 via a belt. The guidewire forward and backward control knob 9 is connected to the driving wheel 12. The force feedback mechanism 13 consists of a motor and a cam. The output end of the motor is connected to the cam, which drives the cam to move. The cam is connected to the belt, and the cam applies pressure to the belt to transmit force to the guidewire forward and backward control knob 9. The encoder 14 is connected to the driven wheel 15 and is used to obtain the distance the master end controls the guidewire movement. The catheter force feedback device is similar to the guidewire force feedback device and has the same structure as the guidewire force feedback device. The force feedback mechanism 13 maps the force applied to the guidewire in the blood vessel, as collected by the slave end mechanism, to the pressure on the belt and transmits it to the guidewire forward and backward control knob 9 in real time. The guidewire forward and backward control knob 9 then feeds back the force of the knob to the doctor's operating end. The force feedback method of the catheter forward and backward control knob 7 is the same as that of the guidewire forward and backward control knob 9.

[0032] The force feedback system of the slave control mechanism is mainly composed of a camera 16, a second bracket 17, a guide wire or catheter 18 and a marking frame 19. The slave control box 6 is made of transparent material. The second bracket 17, the guide wire or catheter 18, and the marking frame 19 are arranged on the slave control box 6. The guide wire or catheter 18 is transported to the channel established on the human body through the second bracket 17. The guide wire or catheter 18 moves in the marking frame 19 and the range of movement does not exceed the marking frame 19. The marking frame 19 is a square groove. The camera 16 is installed at the bottom of the slave control box 6. The camera 16 obtains image data of the second bracket 17, the guide wire or catheter 18, and the marking frame 19 from bottom to top.

[0033] The master-slave force feedback method of the vascular interventional surgery robot with force feedback function of the present invention comprises the following steps:

[0034] (1) Use image recognition algorithms to process the video data from the camera. First, process the video obtained by the camera in single frames, perform appropriate repairs on the single frame image, apply the algorithm to remove reflections, and obtain the original data of the target area image.

[0035] (2) The pre-processed image is reprocessed to generate a binary mask image of the guidewire or catheter, and the bending height of the guidewire or catheter in the marking frame 19 is calculated.

[0036] (3) The curvature of the guidewire or catheter obtained by the image processing algorithm is processed, and the curvature is mapped to the force applied to the guidewire or catheter in the blood vessel. The force applied to the guidewire obtained by the mapping is fed back to the main end force feedback mechanism 13. The main end force feedback mechanism 13 adjusts the angle of the cam, outputs the corresponding pressure to the belt, and transmits the pressure to the guidewire forward and backward control knob 9 through the active wheel 12. The force feedback mode of the catheter is mapped to the catheter forward and backward control knob 7 similarly to the guidewire. The doctor remotely senses the force applied to the guidewire and catheter in the blood vessel through the guidewire forward and backward control knob 9 and the catheter forward and backward control knob 7.

[0037] The present invention will be further described below with reference to the accompanying drawings and specific embodiments:

[0038] As attached Figure 1a and attached Figure 1b Figure 2 shows the overall structure of the vascular interventional robot of the present invention. The interventional robot consists of two parts: a master end and a slave end. The master end collects the physician's action commands and transmits them to the slave end to complete the corresponding movement of the guidewire and catheter. The slave end collects the force applied to the guidewire and catheter in the blood vessel and feeds it back to the master end, enabling remote sensing of the guidewire and catheter force.

[0039] As attached Figure 2The figure shows a schematic diagram of the main control box of the vascular intervention robot of the present invention. When operating, the doctor first presses the enable button 11. When the button 11 is pressed, the catheter forward and backward control knob 7, the guidewire rotation control knob 8, and the guidewire forward and backward control knob 9 are activated. Otherwise, the catheter forward and backward control knob 7, the guidewire rotation control knob 8, and the guidewire forward and backward control knob 9 do not respond. The operator controls the forward and backward movement of the guidewire by controlling the guidewire forward and backward control knob 9. Counterclockwise rotation is forward movement, and clockwise rotation is backward movement. Similarly, the forward and backward movement of the catheter is controlled by controlling the catheter forward and backward control knob 7. Counterclockwise rotation is forward movement, and clockwise rotation is backward movement. The catheter forward and backward control knob 7 and the guidewire forward and backward control knob 9 are connected to the force feedback system in the main control box 2. The guidewire rotation control knob 8 controls the guidewire's rotational movement within the blood vessel. Turning the knob clockwise moves the guidewire clockwise, while turning it counterclockwise moves the guidewire counterclockwise. The emergency stop button 10, when pressed in an emergency, stops the slave end and disconnects the master-slave control, allowing manual withdrawal of the guidewire and catheter.

[0040] As attached Figure 3 Figure 1 shows a schematic diagram of the force feedback system on the main end of a vascular interventional robot. The guidewire forward and backward control knob 9 is connected to a driving pulley 12, which is connected to a driven pulley 15 via a belt. A force feedback mechanism 13 maps the force applied to the guidewire in the blood vessel, as detected by the main end, to the pressure on the belt in real time. This force is then transmitted to the guidewire forward and backward control knob 9, which then provides feedback to the physician operating the robot via the knob force. The force feedback principle for the catheter forward and backward control knob 7 is similar.

[0041] As attached Figure 4 The following is a schematic diagram of the control box of the vascular intervention robot. Figure 5 The figure shows a top view of the control box at the slave end of the vascular interventional robot. The slave end mechanism primarily details the forces acting on a guidewire or catheter within a blood vessel. Specifically, a guidewire or catheter 18 is pushed by the slave end pushing mechanism through support 2 17 into the body passage. Guidewire or catheter 18 passes through a marking frame 19, a square groove that facilitates movement within the frame. Its blue edge facilitates identification by camera 16.

[0042] As attached Figure 7The figure shows a flowchart of the camera's single-frame image preprocessing algorithm. Because the slave control box 6 is made of transparent material, preprocessing is required before calculation to eliminate the effect of material reflections on the image data. First, the camera's single-frame image data is read (step 1). Appropriate image patching is performed on the reflective areas within the image frame (step 2). The area marked by the blue box 19 is identified by color, and the original image is binarized based on color (step 3). Connected region analysis is then performed on the binarized image (step 4). Using the blue box as the boundary, the original image data of the target area is retained, along with a mask of the same size as the target area (step 5). The resulting data is used to calculate the curvature of the guidewire or catheter.

[0043] As attached Figure 8 As shown in FIG, it is a flow chart of the method for calculating the curvature of a guidewire or catheter. After obtaining the pre-processed collected data (provided in step 1), considering that the guidewire or catheter will be stained with blood during interventional surgery, the noise in the target area is mostly red, and the red single-channel data is extracted for processing (step 2), and then the candidate area where the guidewire or catheter is located is extracted (step 3); to reduce the noise in the target area, the image is Gaussian blurred (step 4); in view of the uneven brightness of the collected image, the guidewire or catheter is segmented using an adaptive threshold (step 5); to further remove excess noise points, the area of ​​the connected domain is counted, and if the number is less than the threshold determined by experience, it is discarded as noise (step 7); if it is greater than the set threshold, the data of the detected guidewire or catheter is added to the data memory (step 8) for visualization; finally, the guidewire bending height is calculated based on the binary mask map of the guidewire or catheter (step 9). The target area is the area in the marked box 19, and its schematic diagram is shown in the attached figure. Figure 6 Schematic diagram of the target area for the guidewire or catheter.

[0044] The present invention maps the bending height of the guidewire or catheter with the force applied to the guidewire or catheter. The curvature obtained by the image recognition algorithm can directly reflect the force applied to the guidewire or catheter in the blood vessel.

[0045] As attached Figure 9The figure shows the master-slave force feedback flow chart of the vascular intervention robot. After obtaining the curvature of the guidewire or catheter, the force exerted on the guidewire or catheter is fed back to the main-end force feedback mechanism 13. The range of the force transmitted back by the guidewire or catheter in the blood vessel is 0-10N. According to the above description, the main-end force feedback mechanism 13 adjusts the angle of the cam pressing the belt to output the corresponding knob force of the master hand knob. The output knob force range is 0-10N. When the force exerted on the guidewire or catheter in the blood vessel is greater than 10N, the force feedback mechanism 13 rotates the cam to 90° to press the belt as tight as possible, so that the torque of the guidewire forward and backward control knob 9 or the catheter forward and backward control knob 7 is increased to the maximum, so that the operator can continue to feel the large resistance of the knob, thereby reminding the operator that the resistance of the guidewire or catheter in the blood vessel is too large.

[0046] In summary, the interventional robot with force feedback described in this embodiment uses image recognition technology to accurately feed back the force applied to the guidewire or catheter in the blood vessel to the main-end operating mechanism without the aid of sensors. By operating the main-end control mechanism's catheter forward and backward control knobs 7 and guidewire forward and backward control knobs 9, the doctor can feel the actual force applied to the guidewire and catheter in the blood vessel. This invention reduces the risk of interventional surgery and improves the surgical precision of vascular interventional surgery.

[0047] It should be noted that the above-described embodiment represents only one implementation method of the present invention. While the description is relatively specific and detailed, it should not be construed as limiting the scope of the present invention. Any technical solution obtained through equivalent substitution or equivalent means shall fall within the scope of protection of the present invention. For example, changes to the marking frame in other shapes and colors, or changes to the camera placement from the top or side, shall all be considered equivalent substitutions.

[0048] That is, the present invention is not limited to the above-mentioned embodiments, and any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be considered as equivalent replacement methods and are included in the scope of protection of the present invention.

Claims

1. A vascular interventional surgery robot with force feedback function, characterized by: The invention is composed of a master-end mechanism and a slave-end mechanism, wherein the master-end mechanism comprises a display (1), a master-end control box (2) and a master-end console (3), wherein the master-end control box (2) is embedded in the master-end console (3), and the display (1) is used to display images; the master-end control box (2) is provided with a catheter forward and backward control knob (7), a guidewire rotation control knob (8), a guidewire forward and backward control knob (9), an emergency stop button (10) and an enable button (11), wherein the catheter forward and backward control knob (7), the guidewire rotation control knob (8) and the guidewire forward and backward control knob (9) are used to realize catheter forward and backward control, guidewire rotation control, and guidewire forward and backward control, respectively. The catheter forward and backward control knob (7) and the guidewire forward and backward control knob (9) are respectively connected to the catheter force feedback device and the guidewire force feedback device, and the catheter force feedback device and the guidewire force feedback device are arranged in the master end control box (2); the slave end mechanism comprises an operating table (4), a bracket (5) and a slave end control box (6), the bracket (5) is fixed on the operating table (4), the end of the bracket (5) is fixed with the slave end control box (6) and is used to adjust the posture of the slave end control box (6), and the slave end control mechanism force feedback system is installed on the slave end control box (6); the guidewire force feedback device comprises a driving wheel (12), a force feedback mechanism (13), an encoder (14) and a slave end control mechanism. The driving wheel (12) is connected to the driven wheel (15) through a belt, and the driving wheel (12) is connected to the guide wire forward and backward control knob (9), and the force feedback mechanism (13) is composed of a motor and a cam, the output end of the motor is connected to the cam and drives the cam to move, and the cam is connected to the belt, and the cam applies pressure to the belt to transmit force to the guide wire forward and backward control knob (9); the encoder (14) is connected to the driven wheel (15), and the encoder (14) is used to obtain the distance of the guide wire moved by the master end; the structure of the catheter force feedback device is the same as that of the guide wire force feedback device; the slave end control mechanism force feedback system includes a camera (16), Bracket 2 (17), guide wire or catheter (18) and marking frame (19), the slave end control box (6) is made of transparent material, the bracket 2 (17), guide wire or catheter (18) and marking frame (19) are arranged on the slave end control box (6), the guide wire or catheter (18) is transported to the human body channel through the bracket 2 (17), the guide wire or catheter (18) moves in the marking frame (19) and the range of movement does not exceed the marking frame (19), the marking frame (19) is a square groove, the camera (16) is installed at the bottom of the slave end control box (6), and the camera (16) obtains image data of the bracket 2 (17), guide wire or catheter (18) and marking frame (19) from bottom to top.

2. The vascular interventional surgery robot with force feedback function according to claim 1, characterized in that: The force feedback mechanism (13) maps the force of the guidewire in the blood vessel collected by the end mechanism to the pressure on the belt in real time, and transmits it to the guidewire forward and backward control knob (9). The guidewire forward and backward control knob (9) is fed back to the doctor's operating end in the form of knob force. The force feedback method of the catheter forward and backward control knob (7) is the same as that of the guidewire forward and backward control knob (9).

3. A master-slave force feedback method for a vascular interventional surgery robot with force feedback function as claimed in claim 1, characterized in that: The following steps are involved: (1) First, process the video obtained by the camera in single frames, perform appropriate repairs on the single frame image, apply the algorithm to remove the reflection, and obtain the original data of the target area image; (2) Then, the pre-processed image is reprocessed to generate a binary mask image of the guidewire or catheter, and the bending height of the guidewire or catheter in the marked box (19) is calculated; (3) The curvature of the guidewire or catheter obtained by the image processing algorithm is processed, and the curvature is mapped with the force applied to the guidewire or catheter in the blood vessel. The force applied to the guidewire obtained by the mapping is fed back to the force feedback mechanism (13). The force feedback mechanism (13) adjusts the angle of the cam, outputs corresponding pressure to the belt, and transmits the pressure to the guidewire forward and backward control knob (9) through the active wheel (12); the force feedback mode of the catheter is similarly mapped to the catheter forward and backward control knob (7) as the guidewire; the doctor remotely senses the force applied to the guidewire and catheter in the blood vessel through the guidewire forward and backward control knob (9) and the catheter forward and backward control knob (7).

4. The master-slave force feedback method for a vascular interventional surgery robot with force feedback function according to claim 3, characterized in that: The preprocessing of a single-frame camera image includes the following steps: 1) first reading the single-frame image data from the camera video stream; 2) performing appropriate image patching on the reflective areas in the image frame; 3) identifying the area marked with a blue box by color and binarizing the original image based on the color; 4) performing connected region analysis on the binarized image; 5) retaining the original image data within the target area, bounded by the blue box, and retaining a mask of the same size as the target area.

5. The master-slave force feedback method for a vascular interventional surgery robot with force feedback function according to claim 3, characterized in that: The method for calculating the curvature of a guidewire or catheter includes the following steps: after obtaining the preprocessed collected data, considering that the guidewire or catheter may be stained with blood during interventional surgery and the noise in the target area is mostly red, the red single-channel data is extracted for processing, and then the candidate area where the guidewire or catheter is located is extracted; Gaussian blur is performed on the red channel image, and the guidewire or catheter is segmented using an adaptive threshold; the area of ​​the connected domain is counted, and if the number is less than the set threshold, it is discarded as noise; if it is greater than the set threshold, the data of the detected guidewire or catheter is added to the data memory for visualization; finally, the guidewire curvature height is calculated based on the obtained binary mask image of the guidewire or catheter.

6. The master-slave force feedback method for a vascular interventional surgery robot with force feedback function according to claim 3, characterized in that: After obtaining the curvature of the guidewire or catheter, the force exerted on the guidewire or catheter is fed back to the force feedback mechanism (13) of the main end mechanism; the range of the force reflected by the guidewire or catheter in the blood vessel is 0-10N, and the main end force feedback mechanism (13) outputs the knob force of the corresponding knob according to the angle of the cam pressing the belt, and the output knob force range is 0-10N; when the force exerted on the guidewire or catheter in the blood vessel is greater than 10N, the force feedback mechanism (13) rotates the cam to 90 degrees to press the belt as tight as possible, so that the torque of the guidewire forward and backward control knob (9) or the catheter forward and backward control knob (7) is increased to the maximum.

Images