Device drive control method, surgical robot, and storage medium

Abstract

The embodiment of the present specification discloses a device driving control method, a surgical robot and a storage medium. The device driving control method comprises: determining a first calcification removal path according to a preoperative medical image of a target site; obtaining first position data of the device when the device moves in the target site; driving the device to reach a calcification area according to the first position data along the first calcification removal path; and driving the device to remove calcification in the calcification area after reaching the calcification area. The embodiment of the present specification can drive and control the device, thereby reducing the operation time and reducing the operation risk.

Description

Technical Field

[0001] This specification relates to the field of medical device technology, and in particular to a device drive control method, a surgical robot, and a storage medium. Background Technology

[0002] Calcification is the abnormal deposition of calcium salts in certain parts of an organism, such as blood vessels. Calcification can trigger a range of diseases and requires surgical removal. In related technologies, interventional procedures can be used, where surgical devices are placed into the target area of ​​the organism, and a doctor performs the surgery under the guidance of X-ray imaging to remove the calcified area.

[0003] The advancement and navigation of surgical equipment during the procedure are typically controlled by the surgeon based on experience, often requiring multiple attempts to find the accurate path to the calcified area. This method of advancement and navigation results in a longer surgical time and a higher risk of surgical errors. Summary of the Invention

[0004] This specification provides a device drive control method, a surgical robot, and a storage medium to drive and control the device, thereby reducing surgery time and lowering the risk of surgical errors. The technical solutions of this specification embodiment are as follows.

[0005] A first aspect of the embodiments of this specification provides a device drive control method, including:

[0006] Determine the first calcification removal path based on preoperative medical images of the target site;

[0007] Acquire the first position data of the device as it moves within the target area;

[0008] Based on the first position data, the drive device reaches the calcified area according to the first calcification removal path;

[0009] Upon reaching the calcified area, the drive unit removes the calcification.

[0010] In some embodiments, determining the first calcification removal path includes: segmenting a preoperative medical image to obtain a target region and a calcified region; generating a three-dimensional model of the target region based on the target region; and determining the first calcification removal path based on the position of the calcified region in the three-dimensional model.

[0011] In some embodiments, segmenting the preoperative medical image includes: segmenting the preoperative medical image using a segmentation model to obtain a labeled image; the labeled image is used to distinguish between the target area and the calcified area.

[0012] In some embodiments, the method further includes: matching device parameters based on a three-dimensional model and a calcified region, the device parameters being used to select the device.

[0013] In some embodiments, the method further includes: determining a first calcification level of the calcified region, the first calcification level representing the severity of calcification; and determining a first calcification removal strategy based on the first calcification level. The driving device performing calcification removal on the calcified region includes: performing calcification removal on the calcified region according to the first calcification removal strategy. In some embodiments, determining the first calcification level of the calcified region includes: determining the calcified area of ​​the calcified region.

[0014] And assign a score to the calcification density; calculate the first calcification value based on the calcification area and the calcification density score; determine the first calcification level of the calcification area based on the first calcification value.

[0015] In some embodiments, determining the first calcification removal strategy includes: generating recommendation information based on a first calcification level, the recommendation information being used to suggest whether to perform calcification removal; obtaining confirmation information from a doctor regarding the recommendation information; and if the confirmation information indicates that calcification removal should be performed, determining the first removal strategy.

[0016] In some embodiments, the method further includes: acquiring second position data of the device moving in the target area using an electromagnetic positioning method; acquiring a first intraoperative medical image of the target area, wherein the first intraoperative medical image includes the device;

[0017] The first intraoperative medical image is registered with the three-dimensional model of the target site; based on the registration result, the third position data of the device is determined. Acquiring the first position data when the device moves within the target site includes: fusing the third position data with the second position data to obtain the first position data.

[0018] In some embodiments, the method further includes: detecting whether a first calcification removal path has shifted based on first location data; if so, adjusting the first calcification removal path according to the registration result to obtain a second calcification removal path;

[0019] The driving device reaches the calcified area according to the first calcification removal path, including: the driving device reaches the calcified area according to the second calcification removal path.

[0020] In some embodiments, the driving device reaching the calcified region along a first calcification removal path includes: driving the device to reach the calcified region along the first calcification removal path by means of electromagnetic force.

[0021] 0. In some embodiments, the method further includes: determining a second calcification grade in a designated region, the designated region including...

[0022] In the calcified area after calcification removal, the second calcification level is used to indicate the severity of calcification; based on the second calcification level, it is determined whether the calcification removal of the calcified area has achieved a preset effect; if not, a second removal strategy is determined based on the second calcification level; based on the second removal strategy, the drive device is driven to remove calcification in the designated area.

[0023] In some embodiments, determining the second calcification level of a designated area includes: acquiring a second intraoperative medical image of the designated area; calculating a second calcification value of the designated area based on the second intraoperative medical image; and determining the calcification level of the designated area based on the second calcification value.

[0024] The second calcification grade in a defined area.

[0025] A second aspect of the embodiments of this specification provides a surgical robot, comprising:

[0026] The main component includes a positioning module, a control module, and a grinding head. The positioning module is used to determine the hand...

[0027] The control module is used to control the surgical robot to move in the target area according to the position data of the position data and to reach the calcified area according to the calcification removal path. The rotary burr head is used to remove calcification in the calcified area.

[0028] A third aspect of the embodiments of this specification provides a computer storage medium storing computer program instructions that, when executed, implement the steps of the method as described in the first aspect.

[0029] The technical solution provided in the embodiments of this specification can determine a first calcification removal path based on preoperative medical images of the target site; acquire first position data of the device as it moves within the target site; drive the device to reach the calcified area according to the first calcification removal path based on the first position data; and, upon reaching the calcified area, drive the device to remove the calcification. This allows for accurate intraoperative positioning of the device, ensuring it reaches the calcified area according to the pre-planned first calcification removal path, thus achieving targeted calcification removal. Compared to control by the physician based on experience, the device drive control method in the embodiments of this specification can reduce surgical time and lower surgical risks. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments or prior art of this specification, the drawings used in the description of the embodiments or prior art will be briefly introduced below. The drawings described below are only some embodiments recorded in this specification. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is a functional structure diagram of the surgical robot in the embodiments of this specification;

[0032] Figure 2 This is a schematic diagram of the functional structure of the swirl head in the embodiments of this specification;

[0033] Figure 3 This is a flowchart illustrating the device drive control method in the embodiments of this specification;

[0034] Figure 4 This is a schematic diagram of the label images in the embodiments of this specification;

[0035] Figure 5 This is a schematic diagram of a three-dimensional model of a blood vessel in an embodiment of this specification;

[0036] Figure 6 This is a schematic diagram of the first calcification removal path in the embodiments of this specification;

[0037] Figure 7a This is a schematic diagram of a two-dimensional image projected from a three-dimensional model of blood vessels in an embodiment of this specification.

[0038] Figure 7b This is a schematic diagram of a real two-dimensional image of a blood vessel in an embodiment of this specification;

[0039] Figure 8 This is a schematic diagram of the second intraoperative medical image in the embodiments of this specification;

[0040] Figure 9 This is a schematic diagram of the calcified region of the vascular intima in the embodiments of this specification;

[0041] Figure 10 This is a schematic diagram of the calcified region of the vascular intima in the embodiments of this specification. Detailed Implementation

[0042] The technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this specification, and not all embodiments. The specific embodiments described herein are only used to explain this disclosure, and not to limit this disclosure. All other embodiments obtained by those skilled in the art based on the described embodiments of this disclosure are within the scope of protection of this disclosure. In addition, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0043] This specification provides an embodiment of a calcification removal system. The calcification removal system may include multiple components such as a medical device, an operating table, a magnetic field generator, a computing device, and a display device.

[0044] Please refer to the following: Figure 1 and Figure 2The medical device may include a surgical robot. The surgical robot may include a capsule robot, etc. The medical device may be a slender cylindrical structure, capable of being inserted into the target site of the patient through an incision on the patient's body surface or a natural cavity during surgery. The medical device may include a catheter and a main body component disposed at one end of the catheter. The main body component may include multiple of a positioning module, a control module, an imaging module, and a rotational burr head. The positioning module is used to determine the position data of the medical device as it moves within the target site. Specifically, the positioning module may include an electromagnetic positioning module. The electromagnetic positioning module can determine the position data using an electromagnetic field. The control module is used to control the surgical robot to reach the calcified area of ​​the target site according to the position data, following a calcification removal path. The control module may specifically include an electromagnetic control module. The electromagnetic control module can control the surgical robot to reach the calcified area of ​​the target site according to a calcification removal path using an electromagnetic field. The imaging module is used to determine intraoperative medical images of the target site. The imaging module may specifically include an ultrasound module. The ultrasound module is used to determine ultrasound images of the area where the main body component is located. The ultrasound module may include an intravenous ultrasound (IVUS) device, etc. The rotational burr head is used to remove calcification from the calcified area. The atherectomy head may include multiple components such as a grinding head, a drive rod, and a sheath. The grinding head is used to perform atherectomy on calcified areas. The drive rod drives the grinding head. The sheath is located outside the drive rod to protect the target area from damage. Cables may be housed inside the catheter. These cables transmit signals related to the atherectomy head and the imaging module. For example, the cables transmit control signals for the atherectomy head (atherectomy time, atherectomy interval, number of atherectomies, etc.). They also transmit medical images from the imaging module. The cables can also transmit signals related to the positioning module. For example, they transmit electromagnetic signals acquired by the electromagnetic positioning module. Furthermore, the catheter can also serve as a channel for transmitting liquids such as heparinized saline to reduce friction and provide cooling.

[0045] The magnetic field generator is used to generate an electromagnetic field. The operating console serves as a platform for the doctor to manipulate the medical equipment, facilitating control of the equipment based on the doctor's instructions. The computing device is used to determine the calcification removal path; locate and navigate the medical equipment; drive the medical equipment to the calcified area along the removal path; and drive the medical equipment to remove the calcification. The computing device can also control the magnetic field generator to generate an electromagnetic field. This electromagnetic field is used to locate the medical equipment and drive its movement within the target area. The computing device and the operating console can be separate devices or integrated into one device. The display device is used to display, for example, medical images. The display device and the computing device can be separate devices or integrated into one device.

[0046] Please refer to the following: Figure 3 , Figure 4 and Figure 5 This specification provides a device drive control method. The device drive control method can be applied to the computing device. The device drive control method may include the following steps.

[0047] Step S11: Determine the first calcification removal path based on the preoperative medical images of the target site.

[0048] In some embodiments, the preoperative medical image can be obtained by taking pictures of the target site before surgery. The target site may include organs such as blood vessels, trachea, and prostate. The target site may have one or more calcified areas. The preoperative medical image can be a three-dimensional image. The three-dimensional image may specifically include CT images, MRI images, and ultrasound images. In practical applications, the preoperative medical image can be segmented to obtain the target site region and calcified areas; a three-dimensional model of the target site can be generated based on the target site region; and a first calcification removal path can be determined based on the position of the calcified areas in the three-dimensional model. The target site region may include blood vessel regions, trachea regions, prostate regions, etc. The first calcification removal path may point to one or more calcified areas of the target site.

[0049] In some embodiments, preoperative medical images can be segmented using a segmentation model to obtain labeled images. The segmentation model is used for semantic segmentation of the medical images and may specifically include a Unet network model, etc. The labeled images are used to distinguish between target areas and calcified areas. In the labeled images, target areas and calcified areas can be distinguished by different labels. For example, the labels may include pixel values. The label for the target area can be 0, and the label for the calcified area can be 1. Preoperative medical images can be input into the segmentation model to obtain labeled images. Alternatively, preoperative medical images can be preprocessed; the preprocessed preoperative medical images can be input into the segmentation model to obtain labeled images. The preprocessing may include cropping, resampling, adjusting the window width, adjusting the window level, normalization, etc. For example, the window width can be adjusted to 1000, and the window level can be adjusted to 300, etc.

[0050] The training process of the segmentation model is as follows: Acquire one or more training data sets; train the segmentation model based on the one or more training data sets. The training data may include medical images and their corresponding label images. Medical images in the training data can be manually labeled, for example, by labeling target areas and calcified areas in the medical images to obtain label images in the training data. In practical applications, the segmentation model can be trained directly based on the training data. Alternatively, the training data can be preprocessed; the segmentation model can then be trained based on the preprocessed training data. Preprocessing the training data may include preprocessing the medical images and label images in the training data. The process of preprocessing medical images and label images can be found in the process of preprocessing preoperative medical images, and will not be elaborated here. The training process of the segmentation model includes multiple iterations. In each iteration, the medical images in the training data can be input into the segmentation model; the output of the segmentation model can be compared with the label images in the training data; the model parameters of the segmentation model can be adjusted based on the comparison results. For example, the model parameters of the segmentation model can be adjusted using the gradient descent method. The iteration termination condition of the multiple iterations may include reaching a preset number of iterations, etc.

[0051] Preoperative medical images can be automatically segmented using segmentation models, improving the efficiency and accuracy of medical image segmentation. Of course, other methods can also be used to segment preoperative medical images. For example, image segmentation algorithms can be used. These algorithms may include Otsu's method, the mean iteration method, the maximum entropy method, etc.

[0052] In some embodiments, a maximum connected component algorithm can be used to find the maximum connected component in the target area to obtain a three-dimensional model of the target area. The centerline of the target area can be calculated based on the three-dimensional model; a first calcification removal path can be determined based on the position of the calcified region in the three-dimensional model, using the centerline. The first calcification removal path may include line segments on the centerline. The starting point of the first calcification removal path may point to the location where the medical device enters the target area. The ending point of the first calcification removal path may point to the location of the calcified region. Of course, in addition to the starting and ending points, the first calcification removal path may also have one or more intermediate points. These intermediate points may point to the location of the calcified region. For example, please refer to... Figure 6 The target site may have four calcified areas. The first calcification removal path may include a starting point P0, intermediate points P1, P2, and P3, and an ending point P4. P0 may point to the location where the medical device enters the target site. The intermediate points P1, P2, and P3 may point to the locations of the calcified areas. The ending point P4 may point to the locations of the calcified areas.

[0053] In practical applications, surface data can be extracted from voxel data of 3D models; normal vectors can be calculated from surface data; the Delaunay triangulation algorithm can be used to triangularly mesh surface data; internal tetrahedrons of 3D models can be generated from triangular meshes; Voronoi diagrams can be generated from internal tetrahedrons and normal vectors; the radius of the target part can be calculated from the Voronoi diagram; and the centerline can be extracted from the radius using the Fast Marching algorithm.

[0054] In some embodiments, a first calcification level of the calcified region can be determined, the first calcification level being used to indicate the severity of calcification in the calcified region; a first calcification removal strategy for the calcified region can be determined based on the first calcification level.

[0055] The calcification area and density score of the calcified region can be determined; a first calcification value can be calculated based on the calcification area and density score; and a first calcification grade of the calcified region can be determined based on the first calcification value. The calcification area represents the size of the calcified region. The calcification density score represents the density of the calcified region. For example, the preoperative medical image may include a CT image. Multiple CT value intervals can be provided in advance. Each of the multiple CT value intervals corresponds to a score. The maximum CT value of the calcified region can be obtained; the CT value interval containing the maximum CT value can be selected from the multiple CT value intervals; and the score corresponding to the selected CT value interval can be used as the calcification density score. Specifically, for example, if the maximum CT value is in the interval [130, 199], the calcification density score is 1. If the maximum CT value is in the interval [200, 299], the calcification density score is 2. If the maximum CT value is in the interval [300, 399], the calcification density score is 3. If the maximum CT value is greater than or equal to 400, the calcification density score is 4. The first calcification value can be obtained by multiplying the calcification area and calcification density by a factor. Multiple calcification value intervals can be provided in advance. Each of these intervals corresponds to a calcification grade. Different calcification grades represent different degrees of calcification severity. The interval containing the first calcification value can be selected from the multiple intervals; the calcification grade corresponding to the selected interval can be used as the first calcification grade. For example, if the first calcification value is 0, the first calcification grade can be grade A, indicating no atherosclerotic plaque. If the first calcification value is in the interval [1, 10], the first calcification grade can be grade B, indicating very few atherosclerotic plaques. If the first calcification value is in the interval [11, 100], the first calcification grade can be grade C, indicating mild atherosclerotic plaque. If the first calcification value is in the interval [101, 400], the first calcification grade can be grade D, indicating severe atherosclerotic plaque. If the first calcification value is greater than or equal to 401, the first calcification grade can be grade E, which indicates the presence of extensive atherosclerotic plaques.

[0056] A first calcification removal strategy can be determined based on the first calcification level. For example, a set of strategies can be provided in advance. The strategy set may include one or more calcification removal strategies. Each calcification removal strategy may correspond to a calcification level. Based on the first calcification level, a corresponding calcification removal strategy can be selected from the strategy set as the first calcification removal strategy. The first calcification removal strategy may include rotation time, rotation interval, rotation number, etc.

[0057] In some embodiments, recommendation information can be generated based on a first calcification level. This recommendation information suggests whether or not to perform calcification removal. The recommendation information can be displayed on a display device. After reviewing the recommendation information, the doctor can input confirmation information into a computing device. The computing device can obtain the doctor's confirmation information regarding the recommendation information. This confirmation information confirms whether or not to perform calcification removal. If the confirmation information indicates that calcification removal should be performed, the computing device can determine a first calcification removal strategy. If the confirmation information indicates that calcification removal should not be performed, the computing device can terminate the device drive control method.

[0058] In some embodiments, device parameters can be matched based on a 3D model and the calcified region. These device parameters are used to select a medical device. For example, a set of device parameters can be provided in advance. This set may include one or more device parameters. Each device parameter may correspond to a specific medical device. Device parameters can be matched from this set based on the dimensions of the target site (e.g., radius) and the dimensions of the calcified region (e.g., calcified area). The doctor can then select the appropriate medical device based on the matched device parameters for drive control.

[0059] Step S13: Acquire the first position data as the medical device moves within the target area.

[0060] In some embodiments, during surgery, the medical device can move within the target site to reach the calcified area. During this movement, a second position data of the medical device can be acquired using electromagnetic positioning. This second position data can be used as the first position data. Specifically, a magnetic field generator can generate an electromagnetic field. The positioning module in the medical device can collect electromagnetic signals. The computing device can calculate the second position data based on the electromagnetic field generated by the magnetic field generator and the electromagnetic signals collected by the positioning module, through magnetic field coupling. A coordinate system can be established based on the magnetic field generator. The second position data can be understood as position data within this coordinate system. Alternatively, during surgery, the target site may deform. The target site during surgery may deviate from the pre-constructed three-dimensional model. This makes it impossible to accurately determine the position of the medical device within the target site based on the second position data. For example, the target site may be a blood vessel. Figure 7a This is a schematic diagram of a two-dimensional image projected from a three-dimensional model of blood vessels. Figure 7b This is a schematic diagram of a real two-dimensional image of the blood vessels during surgery. (The sentence is incomplete and requires further context.) Figure 7a and Figure 7bComparison reveals that blood vessel deformation has occurred. Therefore, electromagnetic positioning combined with medical image registration can be used to comprehensively determine the first position data of the medical device. This ensures that the first position data accurately represents the position of the medical device within the target site. Specifically, a first intraoperative medical image of the target site can be acquired. This first intraoperative medical image can be registered with a three-dimensional model of the target site; based on the registration result, the third position data of the medical device can be determined. The third position data can be fused with the second position data to obtain the first position data.

[0061] The first intraoperative medical image may include X-ray images, etc. For example, a contrast agent may be injected into the target site; the target site after contrast agent injection may be photographed, and the first intraoperative medical image may be obtained through digital subtraction angiography. The first intraoperative medical image may be a two-dimensional image. To register the three-dimensional model of the target site with the first intraoperative medical image, a reference image may be generated based on the three-dimensional model. For example, a reference image may be generated using digitally reconstructed radiograph (DRR) technology. The reference image may be a two-dimensional image. Feature data of the reference image and the first intraoperative medical image may be extracted separately; mapping data may be generated based on the extracted feature data as the registration result. Specifically, during the operation, the medical device may move within the target site, so that the first intraoperative medical image may include the medical device. Fourth position data of the medical device in the first intraoperative medical image may be obtained; the fourth position data may be adjusted based on the registration result to obtain third position data of the medical device.

[0062] In practical applications, the reference image and the first intraoperative medical image can be input into the registration model to obtain the registration result. The registration model can be an unsupervised model, such as the VoxelMorph model. Of course, the registration model can also be a supervised model.

[0063] The first position data can be obtained by calculating the average of the third position data and the second position data. Alternatively, other methods can be used to fuse the third and second position data. It's worth noting that the third position data can be three-dimensional data, and the second position data can be two-dimensional data. Therefore, common sub-data of the third and second position data can be obtained; the common sub-data can be fused; and the fusion result can be used as sub-data in the first position data. As for the sub-data unique to the third position data, it can be directly used as sub-data in the first position data.

[0064] Step S15: Based on the first location data, drive the medical device to reach the calcified area along the first calcification removal path.

[0065] In some embodiments, the medical device can be driven to reach the calcified area along a first calcification removal path based on the first location data. This allows for accurate navigation and control of the medical device under precise positioning, combined with the pre-planned first calcification removal path, thereby reducing patient injury, accelerating the surgical process, and minimizing surgical harm to the patient.

[0066] In some embodiments, electromagnetic force can be used to drive the medical device to the calcified area along a first calcification removal path, thereby achieving automatic and rapid advancement of the medical device. This reduces the doctor's workload and saves their energy. Specifically, a magnetic field generator can produce an electromagnetic field. The medical device may include a control module. A computing device can control the magnetic field generator to produce an electromagnetic field, enabling the control module to generate electromagnetic force through the electromagnetic field to drive the medical device to move within the target area.

[0067] In some embodiments, the medical device can be driven to directly reach the calcified area along a first calcification removal path. Alternatively, the target site may deform during surgery. There may be a deviation between the target site during surgery and the pre-constructed 3D model. Therefore, based on first position data, it can be detected whether the first calcification removal path has shifted. If so, it indicates that the first calcification removal path cannot accurately point to the calcified area of ​​the target site; the first calcification removal path can be adjusted based on the registration results to obtain a second calcification removal path; the medical device can then be driven to reach the calcified area along the second calcification removal path. The second calcification removal path can accurately point to the calcified area of ​​the target site.

[0068] The distance between the first location data and the first calcification removal path can be detected. If the distance is greater than or equal to a threshold, it can be determined that the first calcification removal path has shifted; if the distance is less than the threshold, it can be determined that the first calcification removal path has not shifted. If the first calcification removal path has shifted, it can be adjusted according to the registration result. Alternatively, the 3D model of the target area can be adjusted according to the registration result; the centerline of the target area can be calculated based on the adjusted 3D model; and the second calcification removal path can be determined by using the centerline based on the position of the calcified area in the adjusted 3D model. The second calcification removal path may include line segments on the centerline of the adjusted 3D model.

[0069] Step S17: After reaching the calcified area, the drive device removes the calcification in the calcified area.

[0070] In some embodiments, the medical device can be used to detect whether it has reached the calcified area based on first location data. For example, the distance between the location represented by the first location data and the corresponding location of the calcified area can be detected to determine whether the medical device has reached the calcified area. Once the calcified area is reached, the medical device can be driven to remove the calcified area according to a first calcification removal strategy. The calcified area is abraded into tiny particles by a rotary abrasion head so that they can be absorbed by the body (e.g., phagocytosed by macrophages). This allows for accurate abrasion combined with the pre-planned first calcification removal strategy, making the calcification removal process accurate and efficient.

[0071] In some embodiments, after calcification of the calcified area is removed according to a first calcification removal strategy, it can be detected whether the calcification removal has achieved a preset effect. Specifically, a second calcification level of a specified area can be determined; based on the second calcification level, it can be determined whether the calcification removal of the calcified area has achieved a preset effect. The specified area may include the calcified area after calcification removal. The second calcification level is used to indicate the severity of calcification.

[0072] In practical applications, a second intraoperative medical image of a specified area can be acquired; a second calcification value of the specified area can be calculated based on the second intraoperative medical image; and a second calcification grade of the specified area can be determined based on the second calcification value. The second intraoperative medical image may include ultrasound images, etc. The second intraoperative medical image can be obtained through an imaging module in a medical device. The second intraoperative medical image can be segmented to obtain the calcified region in the second intraoperative medical image; and a second calcification value can be calculated based on the calcified region in the second intraoperative medical image. The process of determining the second calcification grade based on the second calcification value is similar to the process of determining the first calcification grade based on the first calcification value, and will not be elaborated here. For example, the target site may include blood vessels. After calcifying the calcified region of the blood vessel according to the first calcification removal strategy, a second intraoperative medical image of the specified area can be acquired; the second intraoperative medical image can be segmented to obtain the calcified region of the vascular intima; and the calcification angle of the calcified region of the vascular intima can be calculated as the second calcification value. If the second calcification value is less than or equal to 90°, the second calcification grade can be Grade I. If the second calcification value falls within the range [91°, 180°], the second calcification grade can be Grade II. If the second calcification value falls within the range [181°, 270°], the second calcification grade can be Grade III. If the second calcification value is greater than or equal to 271°, the second calcification grade can be Grade IV. The severity of calcification represented by Grades I, II, III, and IV increases sequentially. Specifically, Figure 8 The second intraoperative medical image shown includes the adventitia, media, and intima of the blood vessel. Figure 9 This is a schematic diagram of a calcified region in the endothelium of a blood vessel, where the calcification angle is greater than 270°. Figure 10 This is a schematic diagram of a calcified region in the endothelium of a blood vessel. The calcification angle of the calcified region is 360°.

[0073] It can be determined whether the second calcification level meets the preset conditions. If it does, the calcification removal in the calcified area has achieved the preset effect, and the device drive control method can be terminated. If it does not, the calcification removal in the calcified area has not achieved the preset effect, and a second removal strategy can be determined based on the second calcification level. The medical device can then be driven to remove calcification from the designated area based on the second removal strategy. The preset conditions may include the second calcification level being less than or equal to a preset calcification level. The process of determining the second removal strategy based on the second calcification level is similar to the process of determining the first removal strategy based on the first calcification level, and will not be elaborated here. This ensures successful calcification removal in the calcified area.

[0074] The device drive control method of this specification can determine a first calcification removal path based on preoperative medical images of the target site; acquire first position data of the device as it moves within the target site; drive the device to reach the calcified area according to the first calcification removal path based on the first position data; and drive the device to remove calcification after reaching the calcified area. This allows for accurate intraoperative positioning of the device, ensuring it reaches the calcified area according to the pre-planned first calcification removal path, thus achieving targeted calcification removal. Compared to control by the physician based on experience, the device drive control method of this specification reduces surgical time and lowers surgical risks.

[0075] This specification also provides a device drive control apparatus, including the following units.

[0076] The determination unit is used to determine the first calcification removal path based on preoperative medical images of the target site;

[0077] The acquisition unit is used to acquire the first position data of the device as it moves within the target area.

[0078] The driving unit is used to drive the device to reach the calcified area according to the first calcification removal path based on the first position data.

[0079] The cleaning unit is used to drive the device to remove calcifications from the calcified area after reaching it.

[0080] This specification also provides a computing device through its embodiments.

[0081] The computing device may include a memory and a processor.

[0082] In this embodiment, the memory includes, but is not limited to, Dynamic Random Access Memory (DRAM) and Static Random Access Memory (SRAM). The memory can be used to store computer instructions.

[0083] In this embodiment, the processor can be implemented in any suitable manner. For example, the processor can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro)processor, logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers, etc. The processor can be used to execute the computer instructions to implement... Figure 3 The corresponding implementation examples.

[0084] This specification provides a computer storage medium storing computer program instructions, which, when executed, implement... Figure 3 The steps of the method are described.

[0085] In the 1990s, improvements to a technology could be clearly distinguished as either hardware improvements (e.g., improvements to the circuit structure of diodes, transistors, switches, etc.) or software improvements (improvements to the methodology). However, with technological advancements, many methodological improvements today can be considered direct improvements to the hardware circuit structure. Designers almost always obtain the corresponding hardware circuit structure by programming the improved methodology into the hardware circuit. Therefore, it cannot be said that a methodological improvement cannot be implemented using hardware physical modules. For example, a Programmable Logic Device (PLD) (such as a Field Programmable Gate Array (FPGA)) is such an integrated circuit whose logic function is determined by the user programming the device. Designers can program and "integrate" a digital system onto a PLD themselves, without needing chip manufacturers to design and manufacture dedicated integrated circuit chips. Furthermore, nowadays, instead of manually manufacturing integrated circuit chips, this programming is mostly implemented using "logic compiler" software. Similar to the software compiler used in program development, the original code before compilation must be written in a specific programming language, called a Hardware Description Language (HDL). There are many HDLs, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, and RHDL (Ruby Hardware Description Language). Currently, the most commonly used are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should understand that by simply performing some logic programming on the method flow using one of these hardware description languages ​​and programming it into an integrated circuit, the hardware circuit implementing the logical method flow can be easily obtained.

[0086] The systems, devices, modules, or units described in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. A computer can be a personal computer, laptop computer, cellular phone, camera phone, smartphone, personal digital assistant, media player, navigation device, email device, game console, tablet computer, wearable device, or any combination of these devices.

[0087] This specification can be described in the general context of computer-executable instructions that are executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform a specific task or implement a specific abstract data type. This specification can also be practiced in distributed computing environments, where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0088] Those skilled in the art will understand that the descriptions of the various embodiments have different focuses, and parts not described in detail in a certain embodiment can be referred to in the relevant descriptions of other embodiments. Furthermore, it is understood that those skilled in the art, after reading this specification, can conceive of any combination of some or all of the embodiments listed in this specification without creative effort, and such combinations are also within the scope of disclosure and protection of this specification.

[0089] Although this specification has been described by way of examples, those skilled in the art will recognize that many variations and modifications are possible with respect to this specification, and it is intended that the appended claims cover such variations and modifications without departing from the spirit of this specification.

Claims

1. A computer storage medium, characterized in that, The computer storage medium stores computer program instructions, which, when executed, implement a device drive control method. The device drive control method includes: Based on preoperative medical images of the target site, a first calcification removal path is determined, which is the preoperative planned path. The second position data of the device as it moves within the target area is obtained using an electromagnetic positioning method. Acquire a first intraoperative medical image of the target site, wherein the first intraoperative medical image includes the device; Register the first intraoperative medical image with the three-dimensional model of the target area; Based on the registration results, determine the third position data of the equipment; Acquire first position data when the device moves within the target area; the acquisition of first position data when the device moves within the target area includes: fusing third position data with second position data to obtain first position data; Based on the first position data, the drive device reaches the calcified area according to the first calcification removal path; Upon reaching the calcified area, the drive unit removes the calcification.

2. The computer storage medium according to claim 1, characterized in that, Determining the first calcification removal pathway includes: Preoperative medical images are segmented to obtain the target area and calcified area; Generate a 3D model of the target area based on the target area region; The first calcification removal path is determined based on the location of the calcified area in the 3D model.

3. The computer storage medium according to claim 2, characterized in that, The segmentation of preoperative medical images includes: Preoperative medical images are segmented using a segmentation model to obtain labeled images; The labeled image is used to distinguish between the target area and the calcified area.

4. The computer storage medium according to claim 2, characterized in that, The device drive control method further includes: Based on the 3D model and calcified regions, device parameters are matched, which are used to select the device.

5. The computer storage medium according to claim 1 or 2, characterized in that, The device drive control method further includes: A first calcification grade is determined for the calcified area, which is used to indicate the severity of calcification; Determine the first calcification removal strategy based on the first calcification grade; The drive device removes calcification from the calcified area, including: According to the first calcification removal strategy, the drive device removes calcification from the calcified area.

6. The computer storage medium according to claim 5, characterized in that, The determination of the first calcification grade of the calcified region includes: Determine the calcification area and assign scores to the calcification density of the calcified region; The first calcification value is calculated based on the calcification area and calcification density. The first calcification grade of the calcified area is determined based on the first calcification value.

7. The computer storage medium according to claim 5, characterized in that, The determination of the first calcification removal strategy includes: Based on the first calcification level, a recommendation is generated, which suggests whether or not to remove the calcification. Obtain confirmation from the doctor regarding the advice; If the confirmation message indicates that calcification removal should be performed, determine the first removal strategy.

8. The computer storage medium according to claim 7, characterized in that, The device drive control method further includes: Based on the first location data, detect whether the first calcification removal path has shifted; If so, adjust the first calcification removal path according to the registration result to obtain the second calcification removal path; The driving device reaches the calcified region according to the first calcification removal path, including: The drive device reaches the calcified area according to the second calcification removal path.

9. The computer storage medium according to claim 1, characterized in that, The driving device reaches the calcified region according to the first calcification removal path, including: Electromagnetic force drives the device to reach the calcified area along the first calcification removal path.

10. The computer storage medium according to claim 1, characterized in that, The device drive control method further includes: A second calcification grade is determined for a specified area, the specified area including the calcified area after calcification removal, the second calcification grade being used to indicate the severity of calcification; Based on the second calcification level, determine whether the calcification removal of the calcified area has achieved the preset effect; If not, determine the second removal strategy based on the second calcification level; According to the second removal strategy, the drive device removes calcification in the designated area.

11. The computer storage medium according to claim 10, characterized in that, Determining the second calcification level of the designated area includes: Acquire a second intraoperative medical image of the specified area; Calculate the second calcification value of the specified area based on the second intraoperative medical image; The second calcification level of the designated area is determined based on the second calcification value.

12. A surgical robot, characterized in that, include: The main component includes an imaging module, a positioning module, a control module, and a rotary ablation head. The control module is used to control the surgical robot to reach the calcified area according to the calcification removal path based on the first position data. The calcification removal path is determined based on the preoperative medical image of the target site and is a preoperative planned path. The rotary ablation head is used to remove calcification in the calcified area after reaching it. The imaging module is used to determine intraoperative medical images of the target site, and the intraoperative medical images are used to register with the three-dimensional model of the target site to obtain a registration result; the positioning module includes an electromagnetic positioning module, which is used to determine the second position data of the surgical robot when it moves in the target site through an electromagnetic field, and the second position data is used to fuse with the third position data to obtain the first position data, and the third position data is determined according to the registration result.

13. The surgical robot according to claim 12, characterized in that, The control module includes an electromagnetic control module, which is used to control the surgical robot to reach the calcified area according to the calcification removal path through an electromagnetic field.

14. The surgical robot according to claim 12, characterized in that, The surgical robot also includes a catheter, one end of which is provided with the main body component. Inside the catheter, there is a cable for transmitting signals related to the rotary abrasion head and the imaging module.

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