Catheter system, method for calculating driving space of catheter, and storage medium

Abstract

A catheter system includes a processor configured to perform: receiving a desired bend angle and a desired direction angle of a catheter tip; the corresponding relation between the expected bending angle and the first expected joint angle and the corresponding relation between the expected direction angle and the second expected joint angle are obtained; according to the expected bending angle, the expected direction angle and the corresponding relation, a first expected joint angle and a second expected joint angle are obtained through calculation; acquiring an initial driving wire length, a first preset snake bone coefficient and a second preset snake bone coefficient of a driving wire between a head unit disc and a tail unit disc of the snake bone joint when the snake bone joint is in a linear state; according to the first expected joint angle, the second expected joint angle, the initial driving wire length, the first preset snake bone coefficient and the second preset snake bone coefficient, the target length of each driving wire between the head unit disc and the tail unit disc of the snake bone joint is calculated. The invention further discloses a catheter driving space calculation method and a storage medium. The catheter control accuracy can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a catheter system, a method for calculating a driving space of a catheter, and a computer-readable storage medium. Background Art

[0002] Minimally invasive medical technology is mainly aimed at reducing the damage to patient tissues during medical procedures, and has the advantages of less trauma, less pain, and faster recovery. This minimally invasive technology can be performed through natural orifices or surgical incisions in the patient's anatomical structure, so that the catheter device can reach the target tissue location under the control of the catheter system controller. The catheter device is usually a flexible and / or steerable elongated catheter, which can be inserted into an anatomical through hole and navigated toward the target area within the patient's anatomical structure.

[0003] In the existing kinematic modeling method of the catheter system, as the usage time increases, the length of the drive wire, the length of the catheter, and the Young's modulus may change, resulting in an increasing deviation between the catheter system and the model, making it impossible to accurately control the catheter. Summary of the invention

[0004] The main purpose of the present application is to provide a catheter system, a method for calculating the driving space of the catheter, and a computer-readable storage medium, aiming to solve the technical problem that the deviation between the existing catheter system and the model is getting larger and larger, and the catheter cannot be accurately controlled.

[0005] To achieve the above-mentioned purpose, the present application provides a catheter system, the catheter system includes a mechanical arm, a catheter instrument engaged with a power unit of the mechanical arm, a user input device and a processor communicatively connected to the mechanical arm, the catheter instrument includes an instrument box configured to be engaged with the power unit and a catheter connected to the instrument box, the instrument box includes a driving wheel configured to be driven by the power unit and a driving wire with one end wound around the driving wheel and the other end extending along the catheter and fixed to the end of the catheter; the end of the catheter has a snake bone joint through which the driving wire is passed, and the snake bone joint includes a first joint and a second joint perpendicular to each other; the processor is configured to perform the following steps:

[0006] receiving, via the user input device, a desired configuration space of the catheter tip, the desired configuration space comprising a desired bend angle and a desired orientation angle;

[0007] Acquire a correspondence between the expected bending angle, the expected direction angle, and a first expected joint angle corresponding to the first joint and a second expected joint angle corresponding to the second joint;

[0008] Calculating the first expected joint angle and the second expected joint angle according to the expected bending angle, the expected direction angle and the corresponding relationship;

[0009] Obtaining the initial drive wire length, the first preset snake bone coefficient and the second preset snake bone coefficient of the drive wire between the head and tail unit disks of the snake bone joint when the snake bone joint is in a straight line state;

[0010] According to the first expected joint angle, the second expected joint angle, the initial drive wire length, the first preset snake bone coefficient and the second preset snake bone coefficient, the drive space of the catheter end is calculated, and the drive space includes the target length of each drive wire between the head and tail unit disks of the snake bone joint.

[0011] Optionally, the corresponding relationship is expressed as follows:

[0012]

[0013]

[0014] Among them, α represents the expected direction angle, θ represents the expected bending angle, joint1 represents the first expected joint angle, joint2 represents the second expected joint angle, and r represents the bending radius of the snake bone joint.

[0015] Optionally, the step of calculating the first expected joint angle and the second expected joint angle according to the expected bending angle, the expected direction angle and the corresponding relationship includes:

[0016] According to formula (1) (2), the following formula is obtained:

[0017] joint2 = joint1 * tanα#(3);

[0018] Substituting formula (3) into formula (2), the first desired joint angle is calculated:

[0019]

[0020] Substituting formula (4) into formula (3), the second desired joint angle is calculated:

[0021]

[0022] Optionally, the driving wire includes a first driving wire and a second driving wire arranged adjacent to each other, the first driving wire is configured to drive the first joint to rotate, and the second driving wire is configured to drive the second joint to rotate; the step of calculating the driving space of the catheter end according to the first expected joint angle, the second expected joint angle, the initial driving wire length, the first preset snake bone coefficient and the second preset snake bone coefficient comprises:

[0023] Calculating a first product of the first preset snake-bone coefficient and the first desired joint angle, and a second product of the second preset snake-bone coefficient and the second desired joint angle;

[0024] The sum of the first product and the initial drive wire length, and the sum of the second product and the initial drive wire length are calculated to obtain the target lengths of the first drive wire and the second drive wire between the head and tail unit disks of the snake bone joint, respectively; wherein the expression formula of the target lengths of the first drive wire and the second drive wire between the head and tail unit disks of the snake bone joint is as follows:

[0025] l1=k1*joint1+l o ;

[0026] l2=k2*joint2+l o ;

[0027]

[0028] Among them, l1 represents the target length of the first driving wire between the head and tail unit disks of the snake bone joint, l2 represents the target length of the second driving wire between the head and tail unit disks of the snake bone joint, k1 represents the first preset snake bone coefficient, k2 represents the second preset snake bone coefficient, joint1 represents the first expected joint angle, and joint2 represents the second expected joint angle.

[0029] Optionally, the driving wire includes a first driving wire and a third driving wire that are relatively arranged, and a second driving wire and a fourth driving wire that are relatively arranged, the first driving wire and the third driving wire are respectively arranged to drive the first joint to rotate in two directions, and the second driving wire and the fourth driving wire are respectively arranged to drive the second joint to rotate in two directions; the step of calculating the driving space of the catheter end according to the first expected joint angle, the second expected joint angle, the initial driving wire length, the first preset snake bone coefficient and the second preset snake bone coefficient, wherein the driving space includes the length of each of the driving wires, comprises:

[0030] Calculate a first product of the first preset snake-bone coefficient and the first expected joint angle, a second product of the second preset snake-bone coefficient and the second expected joint angle, take the negative value of the first product to obtain a third product, and take the negative value of the second product to obtain a fourth product;

[0031] The sum of the first product, the second product, the third product, the fourth product and the initial drive wire length is calculated respectively to obtain the target lengths of the first drive wire, the second drive wire, the third drive wire and the fourth drive wire between the head and tail unit disks of the snake bone joint; wherein the expression formulas of the target lengths of the first drive wire, the second drive wire, the third drive wire and the fourth drive wire between the head and tail unit disks of the snake bone joint are as follows:

[0032] l1=(k1)*joint1+l o ;

[0033] l2=(k2)*joint2+l o ;

[0034] l3=(-k1)*joint1+l o ;

[0035] l4=(-k2)*joint2+l o ;

[0036]

[0037] Among them, l1 represents the target length of the first driving wire between the head and tail unit disks of the snake bone joint, l2 represents the target length of the second driving wire between the head and tail unit disks of the snake bone joint, l3 represents the target length of the third driving wire between the head and tail unit disks of the snake bone joint, l4 represents the target length of the fourth driving wire between the head and tail unit disks of the snake bone joint, k1 represents the first preset snake bone coefficient, k2 represents the second preset snake bone coefficient, joint1 represents the first expected joint angle, and joint2 represents the second expected joint angle.

[0038] Optionally, the processor is configured to perform the following specific steps:

[0039] According to the expression formula of the target length of the first driving wire between the head and tail unit disks of the serpentine joint, the target length of the second driving wire between the head and tail unit disks of the serpentine joint, or according to the expression formula of the target length of the first driving wire, the second driving wire, the third driving wire and the fourth driving wire respectively between the head and tail unit disks of the serpentine joint, the first actual joint angle and the second actual joint angle are calculated inversely;

[0040] Substituting the first actual joint angle and the second actual joint angle into the expression formula (2) of the corresponding joint, and inversely calculating the actual bending angle;

[0041] Substitute the actual bending angle into the expression formula (1) of the corresponding joint to reversely calculate the actual direction angle;

[0042] The actual bending angle is expressed as follows:

[0043]

[0044] The actual direction angle is expressed as follows:

[0045]

[0046] Among them, θ′ represents the actual bending angle, joint1′ represents the first actual joint angle, joint2′ represents the second actual joint angle, and α′ represents the actual direction angle.

[0047] Optionally, the processor is configured to perform the following specific steps:

[0048] Obtaining the number of unit discs of the snake bone joint;

[0049] According to the number of unit disks, the first expected joint angle, the second expected joint angle, the initial drive wire length, the first preset snake bone coefficient and the second preset snake bone coefficient, the drive space of the catheter end is calculated, and the drive space includes the length of each drive wire.

[0050] Optionally, the corresponding relationship is expressed as follows:

[0051]

[0052]

[0053] Wherein, n represents the number of unit disks of the snake bone joint, α represents the desired direction angle, θ represents the desired bending angle, joint1 represents the first desired joint angle, and joint2 represents the second desired joint angle. Indicates the bending radius of one of the unit disks.

[0054] Optionally, the step of calculating the first expected joint angle and the second expected joint angle according to the expected bending angle, the expected direction angle and the corresponding relationship includes:

[0055] According to formula (1)'(2)', the following formula is obtained:

[0056]

[0057] Substitute formula (3) into formula (2) to calculate the first desired joint angle:

[0058]

[0059] Substitute formula (4) into formula (3) to calculate the second desired joint angle:

[0060]

[0061] Optionally, the drive wire includes a first drive wire and a second drive wire that are adjacently arranged, the first drive wire is configured to drive the first joint to rotate, and the second drive wire is configured to drive the second joint to rotate; the step of calculating the drive space of the catheter end according to the number of unit disks, the first expected joint angle, the second expected joint angle, the initial drive wire length, the first preset snake bone coefficient and the second preset snake bone coefficient, wherein the drive space includes the length of each of the drive wires comprises:

[0062] Calculating a first product of the number of unit disks, the first preset serpentine coefficient and the first desired joint angle, and a second product of the number of unit disks, the second preset serpentine coefficient and the second desired joint angle;

[0063] The sum of the first product and the initial drive wire length, and the sum of the second product and the initial drive wire length are calculated to obtain the target length of the first drive wire between the first and last unit disks of the snake bone joint, and the target length of the second drive wire between the first and last unit disks of the snake bone joint, respectively; wherein the expression formulas of the length of the first drive wire and the target length of the second drive wire between the first and last unit disks of the snake bone joint are as follows:

[0064] l1=n*k1*joint1+l o ;

[0065] l2=n*k2*joint2+l o ;

[0066]

[0067] Among them, l1 represents the target length of the first driving wire between the head and tail unit disks of the snake bone joint, l2 represents the target length of the second driving wire between the head and tail unit disks of the snake bone joint, k1 represents the first preset snake bone coefficient, k2 represents the second preset snake bone coefficient, joint1 represents the first expected joint angle, and joint2 represents the second expected joint angle.

[0068] Optionally, the driving wire includes a first driving wire and a third driving wire that are relatively arranged, and a second driving wire and a fourth driving wire that are relatively arranged, the first driving wire and the third driving wire are respectively arranged to drive the first joint to rotate in two directions, and the second driving wire and the fourth driving wire are respectively arranged to drive the second joint to rotate in two directions; the step of calculating the driving space of the catheter end according to the number of unit disks, the first expected joint angle, the second expected joint angle, the initial driving wire length, the first preset snake bone coefficient and the second preset snake bone coefficient, wherein the driving space includes the length of each of the driving wires, comprises:

[0069] Calculate a first product of the first preset snake-bone coefficient and the first expected joint angle, a second product of the second preset snake-bone coefficient and the second expected joint angle, take the negative value of the first product to obtain a third product, and take the negative value of the second product to obtain a fourth product;

[0070] The sum of the first product, the second product, the third product, the fourth product and the initial drive wire length is calculated respectively to obtain the target lengths of the first drive wire, the second drive wire, the third drive wire and the fourth drive wire between the head and tail unit disks of the snake bone joint; wherein the target lengths of the first drive wire, the second drive wire, the third drive wire and the fourth drive wire between the head and tail unit disks of the snake bone joint are expressed as follows:

[0071] l1=n*(k1)*joint1+l o ;

[0072] l2=n*(k2)*joint2+l o ;

[0073] l3=n*(-k1)*joint1+l o ;

[0074] l4=n*(-k2)*joint2+l o ;

[0075]

[0076] Among them, l1 represents the target length of the first driving wire between the head and tail unit disks of the snake bone joint, l2 represents the target length of the second driving wire between the head and tail unit disks of the snake bone joint, l3 represents the target length of the third driving wire between the head and tail unit disks of the snake bone joint, l4 represents the target length of the fourth driving wire between the head and tail unit disks of the snake bone joint, k1 represents the first preset snake bone coefficient, k2 represents the second preset snake bone coefficient, joint1 represents the first expected joint angle, and joint2 represents the second expected joint angle.

[0077] Optionally, the processor is configured to perform the following specific steps:

[0078] According to the expression formula of the target length of the first driving wire between the head and tail unit disks of the serpentine joint, the target length of the second driving wire between the head and tail unit disks of the serpentine joint, or according to the expression formula of the target length of the first driving wire, the second driving wire, the third driving wire and the fourth driving wire respectively between the head and tail unit disks of the serpentine joint, the first actual joint angle and the second actual joint angle are calculated inversely;

[0079] Substituting the first actual joint angle and the second actual joint angle into the expression formula (2) of the corresponding joint, and inversely calculating the actual bending angle;

[0080] Substitute the actual bending angle into the expression formula (1) of the corresponding joint to reversely calculate the actual direction angle;

[0081] The actual bending angle is expressed as follows:

[0082]

[0083] The actual direction angle is expressed as follows:

[0084]

[0085] Among them, θ′ represents the actual bending angle, joint1′ represents the first actual joint angle, joint2′ represents the second actual joint angle, n represents the number of unit disks, and α′ represents the actual direction angle.

[0086] The present application also provides a method for calculating the driving space of a catheter, wherein the end of the catheter has a snake-bone joint through which a driving wire is passed, and the snake-bone joint includes a first joint and a second joint that are perpendicular to each other; the method for calculating the driving space of the catheter includes the following steps:

[0087] receiving, via a user input device, a desired configuration space of the catheter tip, the desired configuration space comprising a desired bend angle and a desired orientation angle;

[0088] Acquire a correspondence between the expected bending angle, the expected direction angle, and a first expected joint angle corresponding to the first joint and a second expected joint angle corresponding to the second joint;

[0089] Calculating the first expected joint angle and the second expected joint angle according to the expected bending angle, the expected direction angle and the corresponding relationship;

[0090] Obtaining the initial drive wire length, the first preset snake bone coefficient and the second preset snake bone coefficient of the drive wire between the head and tail unit disks of the snake bone joint when the snake bone joint is in a straight line state;

[0091] According to the first expected joint angle, the second expected joint angle, the initial drive wire length, the first preset snake bone coefficient and the second preset snake bone coefficient, the drive space of the catheter end is calculated, and the drive space includes the target length of each drive wire between the head and tail unit disks of the snake bone joint.

[0092] The present application also provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer program instructions, and the computer program instructions are configured to be loaded and executed by a processor to implement the steps of the method described above.

[0093] The catheter system, the catheter drive space calculation method and the computer-readable storage medium provided by the present application calculate the target length of each drive wire between the first and tail unit disks of the snake joint according to the first expected joint angle, the second expected joint angle, the initial drive wire length, the first preset snake coefficient and the second preset snake coefficient. In this way, the change factors such as the drive wire length, the catheter length, and the Young's modulus caused by the increase in the use time of the catheter instrument are ignored or filtered out, thereby improving the accuracy of catheter control. BRIEF DESCRIPTION OF THE DRAWINGS

[0094] Figure 1 A schematic diagram of a catheter system provided by an embodiment of the present application is shown;

[0095] Figure 2 A schematic diagram of a catheter device and a power unit provided in one embodiment of the present application is shown;

[0096] Figure 3 A schematic diagram of a catheter device provided in one embodiment of the present application is shown;

[0097] Figure 4 A schematic diagram of the structure of a snake bone joint provided in one embodiment of the present application is shown;.

[0098] Figure 5A schematic diagram showing a flow chart of a method for calculating a driving space of a catheter provided in a first embodiment of the present application is shown;

[0099] Figure 6 A simplified schematic diagram of a snake bone joint provided in the first embodiment of the present application is shown;

[0100] Figure 7 It shows a schematic structural diagram of a snake bone joint provided by an embodiment of the present application in a straight line state;

[0101] Figure 8 A schematic diagram showing the fixed positions of the first driving wire and the second driving wire of the present application on the last unit disk in the serpentine joint;

[0102] Fig. 9 Shows Figure 5 A detailed flow chart of step S15 in an embodiment;

[0103] Fig.10 A schematic diagram showing the fixed positions of the first drive wire, the second drive wire, the third drive wire and the fourth drive wire of the present application on the last unit disk in the serpentine joint;

[0104] Fig.11 Shows Figure 5 A detailed flow chart of another embodiment of step S15;

[0105] Fig.12 A schematic flow chart of a method for calculating a driving space of a catheter provided in another embodiment of the present application is shown;

[0106] Fig.13 A schematic diagram showing a flow chart of a method for calculating a driving space of a catheter provided in a second embodiment of the present application is shown;

[0107] Fig.14 A simplified schematic diagram of a snake bone joint provided in a second embodiment of the present application is shown;

[0108] Fig.15 Shows Fig.13 A detailed flow chart of step S26 in an embodiment;

[0109] Fig.16 Shows Fig.13 A detailed flow chart of another embodiment of step S26;

[0110] Fig.17 A schematic diagram showing the structure of a control system of a catheter system provided by an embodiment of the present application is shown;

[0111] Fig.18 A schematic diagram of a computer-readable storage medium provided in an embodiment of the present application is shown.

[0112] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0113] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0114] It should be noted that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0115] In this application, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0116] In addition, in this application, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0117] Figure 1The catheter system 1000 provided in one embodiment of the present application is shown. The catheter system 1000 includes an imaging cart 100, a trolley 200 and a user input device 300 respectively connected to the imaging cart 100, a catheter instrument 400 that can be coupled to the trolley 200, a sensor system 500 connected to the trolley 200, and a control system 600 for realizing control between the catheter instrument 400, the user input device 300, the sensor system 500 and the imaging cart 100. Among them, the user input device 300 can be connected to the trolley 200 by wire or wirelessly. When the operator performs various procedures on the patient next to the trolley 200, the control command can be triggered by operating the user input device 300, and the catheter instrument 400 can be controlled to advance, retract, bend and turn, etc. through the drive of the trolley 200.

[0118] The trolley 200 can usually be moved to the side of the operating bed to engage the catheter instrument 400, and control the catheter instrument 400 to move up and down in the vertical direction, or translate in the horizontal direction, or move in non-vertical and non-horizontal directions under the control command, so as to provide a better preoperative preparation angle for the operation of the catheter instrument 400. The control command can be a command triggered by the operator by operating the user input device 300, or a command triggered by the operator directly clicking or pressing a button set on the trolley 200. Of course, in other embodiments, the control command can also be a command triggered by voice control or a force feedback mechanism.

[0119] like Figure 1 As shown, further, the trolley 200 may include a base 210, a sliding seat body 220 that can be lifted and moved along the base 210, and two mechanical arms 230 fixedly connected to the sliding seat body 220. The mechanical arm 230 may include a plurality of arm segments connected at a joint, and the plurality of arm segments provide the mechanical arm 230 with a plurality of degrees of freedom, for example, seven degrees of freedom corresponding to seven arm segments. A power unit (not shown in the figure) is installed at the end of the mechanical arm 230, and the power unit of the mechanical arm 230 is used to engage the catheter instrument 400, and under the driving action of the power unit, the end of the catheter instrument 400 is controlled to bend and turn accordingly. Among them, the two mechanical arms 230 may be structures that are completely the same or partially the same, one mechanical arm 230 is used to engage the inner catheter instrument 410, and the other mechanical arm 230 is used to engage the outer catheter instrument 420. During installation, the outer catheter device 420 may be installed first, and when the outer catheter device 420 is installed, the catheter of the inner catheter device 410 is inserted into the lumen of the catheter of the outer catheter device 420 .

[0120] The sensor system 500 has one or more subsystems for receiving information about the catheter device 400. The subsystems may include: a position sensor system; a shape sensor system for determining the position, orientation, speed, velocity, pose and / or shape of the tip of the catheter device 400 and / or along one or more segments of the catheter that may constitute the catheter device 400; and / or a visualization system for capturing images from a camera at the tip of the catheter device 400.

[0121] The imaging vehicle 100 may be provided with a display system 110 and a flushing system (not shown in the figure), etc. The display system 110 is used to display images or representations of the surgical site and the catheter instrument 400 generated by the subsystem of the sensor system 500. Real-time images of the surgical site and the catheter instrument 400 captured by the visualization system may also be displayed. Images of the surgical site recorded before or during surgery may also be presented using image data from imaging techniques such as computed tomography (CT), magnetic resonance imaging (MRI), optical coherence tomography (OCT), and ultrasound, etc. The preoperative or intraoperative image data may be presented as a two-dimensional, three-dimensional, or four-dimensional (such as time-based or rate-based information) image and / or presented as an image from a model created based on a preoperative or intraoperative image data set, and a virtual navigation image may also be displayed. In the virtual navigation image, the actual position of the catheter instrument 400 is registered with the preoperative image to present a virtual image of the catheter instrument 400 in the surgical site to the operator from the outside.

[0122] The control system 600 includes at least one memory and at least one processor in communication with the robotic arm. It is understood that the control system 600 can be integrated into the trolley 200 or the imaging trolley 100, or can be independently provided. The control system 600 can support wireless communication protocols such as IEEE 802.11, IrDA, Bluetooth, HomeRF, DECT, and wireless telemetry. The control system 600 can transmit one or more signals indicating movement of the catheter instrument 400 by the power unit to move the catheter instrument 400. The catheter instrument 400 can extend to a surgical site in the body via an opening of a natural cavity or a surgical incision of the patient.

[0123] Further, the control system 600 may include a mechanical control system (not shown in the figure) and an image processing system (not shown in the figure), wherein the mechanical control system is used to control the movement of the catheter instrument 400, and therefore, can be integrated into the trolley 200. The image processing system is used for virtual navigation path planning, and therefore, can be integrated into the imaging vehicle 100. Of course, the various subsystems of the control system 600 are not limited to the specific situations listed above, and can also be reasonably set according to actual conditions. Among them, the image processing system can image the surgical site based on the image of the surgical site recorded before or during the operation, using the above imaging technology. The software used in combination with manual input can also convert the recorded image into a two-dimensional or three-dimensional synthetic image of a part or the entire anatomical organ or segment. During the virtual navigation procedure, the sensor system 500 can be used to calculate the position of the catheter instrument 400 relative to the patient's anatomical structure, which can be used to generate an external tracking image and an internal virtual image of the patient's anatomical structure, so as to realize the actual position of the catheter instrument 400 and the preoperative image registration, so that the virtual image of the catheter instrument 400 in the surgical site can be presented to the operator from the outside.

[0124] The structural composition of the inner catheter device 410 and the outer catheter device 420 is substantially the same, and each comprises a slender and flexible inner catheter 41 and an outer catheter 42, wherein the diameter of the outer catheter 42 is slightly larger than that of the inner catheter 41, so that the inner catheter 41 can pass through the cavity of the outer catheter 42 and provide a certain support for the inner catheter 41, so that the inner catheter 41 can reach the target position in the patient's body, so as to facilitate operations such as tissue or cell sampling from the target position.

[0125] Certain movements of the user input device 300 may cause corresponding movements of the catheter instrument 400. For example, when the operator operates the direction lever of the user input device 300 to move upward or downward, the movement of the direction lever of the user input device 300 may be mapped to the corresponding pitch movement of the end of the catheter instrument 400; when the operator operates the direction lever of the user input device 300 to move left or right, the movement of the direction lever of the user input device 300 may be mapped to the corresponding yaw movement of the end of the catheter instrument 400. In this embodiment, the user input device 300 may control the end of the catheter instrument 400 to move within a 360° spatial range.

[0126] Figure 2 and Figure 3FIG. 4 shows a catheter instrument 400 provided in an embodiment of the present application. The catheter instrument 400 is configured to engage with the power unit 240 of the mechanical arm 230, and the catheter instrument 400 includes an instrument box 45 configured to engage with the power unit 240 and a catheter 48 connected to the instrument box 45. The "engagement" refers to a state in which when the instrument box 45 is installed in the power unit 240, the driving force of the power unit 240 can be transmitted to the instrument box 45 and the catheter 48 can move normally. For example, under the driving force of the power unit 240, the end of the catheter 48 can be bent and turned.

[0127] The instrument box 45 includes a plurality of driving wheels 451 and a plurality of driving wires 452 configured to be driven by the power unit 240. The power unit 240 includes a plurality of driving motors 241. The driving motors 241, the driving wheels 451 and the driving wires 452 are arranged in a one-to-one correspondence. Each driving wheel 451 is configured to engage with a corresponding driving motor 241, that is, when the instrument box 45 is installed to the power unit 240, the corresponding driving motor 241 can drive the driving wheel 451 to rotate, and the driving wheel 451 is wound with a corresponding driving wire 452. The active portion of the corresponding driving wire 452, that is, the portion not wound on the driving wheel 451, extends into the catheter 48, extends along the length direction of the catheter 48 and is finally fixed to the end of the catheter 48.

[0128] The end in this application may also be referred to as the distal end or the head, which refers to the end away from the instrument box 45 ; the front end may also be referred to as the proximal end or the tail, which refers to the end close to the instrument box 45 .

[0129] A portion of the catheter 48 including the end is a controllable section 49, and the end of the controllable section 49 is the end of the catheter 48. The controllable section 49 may be a joint assembly, which has high rigidity in the telescopic direction and low rigidity in the bending direction, and may bend under the control of the driving wire 452, thereby achieving the steering of the catheter 48. In some embodiments, the joint assembly may be referred to as a snake bone joint.

[0130] Figure 4A serpentine joint provided in an embodiment of the present application is shown, and the serpentine joint includes a plurality of unit disks 490 connected in sequence. It can be understood that the drive wire passes through the plurality of unit disks 490 in sequence, and its end is fixed to the last unit disk 490. These unit disks 490 form a plurality of mutually perpendicular first joints 491 and second joints 492 based on different connection directions. Specifically, the rotation axis of the first joint 491 is perpendicular to the rotation axis of the second joint 492. By setting the first joint 491 and the second joint 492, the catheter 48 can be rotated in at least two directions, thereby realizing rotation in four degrees of freedom. It can be understood that when there are three or more drive wires, the catheter 48 can be rotated to any angle in space by applying different forces to different drive wires.

[0131] like Figure 5 As shown, in the first embodiment, the processor of the control system 600 is configured to perform the following steps to implement the driving space calculation method of the catheter provided in the present application. The method includes:

[0132] Step S11, receiving a desired configuration space of the catheter tip via the user input device, wherein the desired configuration space includes a desired bending angle and a desired direction angle;

[0133] In this embodiment, the operator can operate at least one of the input devices such as a direction lever, a key or voice on the user input device to input the catheter steering instruction.

[0134] Taking the direction lever as an example, the operator can push the direction lever in any direction within the operation plane. This operation is converted into a catheter steering instruction under the action of the pressure sensor in the user input device, specifically including the first voltage and the second voltage collected on two mutually perpendicular axes of the user input device (i.e., the axes of the operation plane). The direction angle of the operator's operation is calculated based on the ratio of the first voltage and the second voltage. Specifically, the inverse tangent function or inverse cotangent function of the ratio can be calculated to obtain the expected direction angle of the operator's operation.

[0135] The arithmetic square root of the sum of the squares of the first voltage and the second voltage is calculated as a composite value of the first voltage and the second voltage. The composite value reflects the strength of the operator's operation. The bending speed of the catheter tip can be calculated based on the composite value. For example, the product of the composite value and the preset coefficient can be calculated as the bending speed. The expected bending angle operated by the operator is obtained by calculating the integral of the bending speed and the command holding time. The command holding time refers to the duration of the same operator operation.

[0136] The control interval is the interval between the current steering control of the catheter end and the last steering control of the catheter end. In some embodiments, there is only one catheter steering instruction within each control interval, and the sampling interval of the user input device is fixed. In this case, the integration process can be omitted, and the bending speed is directly used as the desired bending angle operated by the operator.

[0137] In order to reduce the influence of operator's shaking, noise of user input device and the like, the collected first voltage and second voltage may be smoothed and filtered before calculating the expected direction angle and the expected bending angle of the operator's operation.

[0138] Step S12, obtaining a correspondence between the expected bending angle, the expected direction angle, and a first expected joint angle corresponding to the first joint and a second expected joint angle corresponding to the second joint;

[0139] In this embodiment, through the operation of the operator, when the first joint 491 rotates, a first desired joint angle is formed; and when the second joint 492 rotates, a second desired joint angle is formed.

[0140] In this embodiment, the snake bone joint can be considered as a whole, that is, the number of specific unit disks 490 of the snake bone joint is not considered, and the snake bone joint is considered as a whole to obtain its related parameters. At this time, the corresponding relationship between the expected bending angle, the expected direction angle, the first expected joint angle corresponding to the first joint 491, and the second expected joint angle corresponding to the second joint 492 can be expressed as follows:

[0141]

[0142]

[0143] Among them, α represents the expected direction angle, θ represents the expected bending angle, joint1 represents the first expected joint angle, joint2 represents the second expected joint angle, and r represents the bending radius of the snake bone joint.

[0144] like Figure 6As shown, the coordinate systems (X0, Y0, Z0) and (X1, Y1, Z1) can be constructed on the head and tail unit disks 490 of the snake bone joint respectively. The bending radius on the lower side coincides with the coordinate axis X0, and the bending radius on the upper side deviates from the coordinate axis X1 due to the deflection of the unit disk 490. The angle at this time is the expected direction angle α, and the angle between the two bending radii is the expected bending angle θ. It can be understood that the expected bending angle θ is the sum of the first expected joint angles, that is, the expected bending angle θ = sum(joint1); the expected direction angle α is the sum of the second expected joint angles, that is, the expected direction angle α = sum(joint2). In addition, in order to avoid the influence of the coordinate axis Y1 on the attached Figure 6 , the coordinate axis Y1 is omitted.

[0145] Step S13, calculating the first expected joint angle and the second expected joint angle according to the expected bending angle, the expected direction angle and the corresponding relationship;

[0146] In this embodiment, the following formula can be obtained according to the above formulas (1) and (2):

[0147] joint2 = joint1 * tanα#(3);

[0148] Substituting formula (3) into the above formula (2), the first desired joint angle can be calculated:

[0149]

[0150] Substituting formula (4) into the above-calculated formula (3), the second desired joint angle can be calculated:

[0151]

[0152] Step S14, obtaining the initial drive wire length, the first preset snake bone coefficient and the second preset snake bone coefficient of the drive wire between the head and tail unit disks of the snake bone joint when the snake bone joint is in a straight line state;

[0153] In this embodiment, Figure 7 The initial drive wire length l between the head and tail unit disks 490 of the snake bone joint is shown when the snake bone joint is in a straight state. o Specifically, the distance between the outer sides of the head and tail unit disks 490 can be taken as the initial drive wire length. The first preset snake bone coefficient can represent the ratio between the length change of the drive wire at the snake bone joint and the first joint angle, and the second preset snake bone coefficient can represent the ratio between the length change of the drive wire at the snake bone joint and the second joint angle.

[0154] Step S15, according to the first expected joint angle, the second expected joint angle, the initial drive wire length, the first preset snake bone coefficient and the second preset snake bone coefficient, calculate the drive space of the catheter end, the drive space includes the target length of each drive wire between the head and tail unit disks of the snake bone joint.

[0155] The driving wire may include two driving wires, and may also include three or more driving wires. In one embodiment, the driving wire includes a first driving wire and a second driving wire that are adjacently arranged, and the first driving wire is configured to drive the first joint 491 to rotate in a first direction, such as driving the end of the catheter 48 to perform one of the pitch motions; the second driving wire is configured to drive the second joint 492 to rotate in a second direction, such as driving the end of the catheter 48 to perform one of the yaw motions. That is, the first driving wire and the second driving wire can realize the position in which the end of the catheter 48 can move in two directions. For example, Figure 8 As shown, the unit disk 490 has a center point O, and the first driving wire and the second driving wire are respectively fixed at positions A and B on the last unit disk 490, and any position can be any position as long as ∠AOB=(0, 180°).

[0156] like Fig. 9 As shown, when the driving wire includes a first driving wire and a second driving wire disposed adjacent to each other, the step S15 may further include:

[0157] Step S151, calculating a first product of the first preset snake-bone coefficient and the first expected joint angle, and a second product of the second preset snake-bone coefficient and the second expected joint angle;

[0158] In this embodiment, as described above, since the first preset snake coefficient represents the ratio between the length change of the drive wire at the snake joint and the first joint angle, the second preset snake coefficient represents the ratio between the length change of the drive wire at the snake joint and the second joint angle. Therefore, by calculating the first product of the first preset snake coefficient and the first expected joint angle, and calculating the second product of the second preset snake coefficient and the second expected joint angle, the length change of the corresponding drive wire at the snake joint can be obtained.

[0159] Step S152, calculating the sum of the first product and the initial drive wire length, and the sum of the second product and the initial drive wire length, respectively obtaining the target lengths of the first drive wire and the second drive wire between the head and tail unit disks of the snake bone joint; wherein the expression formulas of the lengths of the first drive wire and the target lengths of the second drive wire between the head and tail unit disks of the snake bone joint are as follows:

[0160] l1=k1*joint1+l o ;

[0161] l2=k2*joint2+l o ;

[0162]

[0163] Among them, l1 represents the target length of the first driving wire between the head and tail unit disks 490 of the snake bone joint, l2 represents the target length of the second driving wire between the head and tail unit disks 490 of the snake bone joint, k1 represents the first preset snake bone coefficient, k2 represents the second preset snake bone coefficient, joint1 represents the first expected joint angle, and joint2 represents the second expected joint angle; and k1*joint1 represents the length change of the first driving wire at the snake bone joint, and k2*joint2 represents the length change of the second driving wire at the snake bone joint.

[0164] In another embodiment, the driving wire includes a first driving wire and a third driving wire that are relatively arranged, and a second driving wire and a fourth driving wire that are relatively arranged, and the first driving wire is respectively arranged adjacent to the second driving wire and the fourth driving wire. In this embodiment, the first driving wire and the third driving wire are respectively arranged to drive the first joint 491 to rotate in two directions, such as driving the end of the catheter 48 to perform a pitch motion; the second driving wire and the fourth driving wire are respectively arranged to drive the second joint 492 to rotate in two directions, such as driving the end of the catheter 48 to perform a yaw motion. Fig.10 As shown, for example, the unit disk 490 has a center point O, and the first drive wire, the second drive wire, the third drive wire and the fourth drive wire are respectively fixed at positions A, B, C and D on the last unit disk 490, and ∠AOC=180°, ∠BOD=180°, ∠AOB=(0, 90°] are all possible. Of course, in other embodiments, any position that satisfies ∠AOC=(0, 180°), ∠BOD=(0, 180°), ∠AOB=(0, 90°] are all possible.

[0165] like Fig.11As shown, when the driving wire includes a first driving wire and a third driving wire that are arranged opposite to each other, and a second driving wire and a fourth driving wire that are arranged opposite to each other, the step S15 may further include:

[0166] Step S153, calculating a first product of the first preset snake-bone coefficient and the first expected joint angle, and a second product of the second preset snake-bone coefficient and the second expected joint angle, taking the negative value of the first product to obtain a third product, and taking the negative value of the second product to obtain a fourth product;

[0167] In this embodiment, as described above, since the first preset snake coefficient represents the ratio between the length change of the drive wire at the snake joint and the first joint angle, the second preset snake coefficient represents the ratio between the length change of the drive wire at the snake joint and the second joint angle. Therefore, by calculating the first product of the first preset snake coefficient and the first expected joint angle, calculating the second product of the second preset snake coefficient and the second expected joint angle, taking the negative value of the first product to obtain the third product, and taking the negative value of the second product to obtain the fourth product, the length change of the corresponding drive wire at the snake joint can be obtained.

[0168] Step S154, respectively calculating the sum of the first product, the second product, the third product, the fourth product and the initial drive wire length, to obtain the target lengths of the first drive wire, the second drive wire, the third drive wire and the fourth drive wire between the head and tail unit disks of the snake bone joint; wherein the expression formulas of the target lengths of the first drive wire, the second drive wire, the third drive wire and the fourth drive wire between the head and tail unit disks of the snake bone joint are as follows:

[0169] l1=(k1)*joint1+l o ;

[0170] l2=(k2)*joint2+l o ;

[0171] l3=(-k1)*joint1+l o ;

[0172] l4=(-k2)*joint2+l o ;

[0173]

[0174] Among them, l1 represents the target length of the first driving wire between the head and tail unit disks of the snake bone joint, l2 represents the target length of the second driving wire between the head and tail unit disks of the snake bone joint, l3 represents the target length of the third driving wire between the head and tail unit disks of the snake bone joint, l4 represents the target length of the fourth driving wire between the head and tail unit disks of the snake bone joint, k1 represents the first preset snake bone coefficient, k2 represents the second preset snake bone coefficient, joint1 represents the first expected joint angle, and joint2 represents the second expected joint angle; and (k1)*joint1 represents the length change of the first driving wire at the snake bone joint, (k2)*joint2 represents the length change of the second driving wire at the snake bone joint, (-k1)*joint1 represents the length change of the third driving wire at the snake bone joint, and (-k2)*joint2 represents the length change of the fourth driving wire at the snake bone joint. It can be understood that the first driving wire and the third driving wire have the same length change at the snake bone joint, but drive the first joint 491 to rotate in opposite directions; similarly, the second driving wire and the fourth driving wire have the same length change at the snake bone joint, but drive the second joint 492 to rotate in opposite directions.

[0175] The prior art solutions usually calculate the length or change of the entire drive wire, while the present application focuses on calculating the length or length change of the drive wire located at the snake bone joint, and then obtains the motor position according to the relationship between the drive wire length, the motor position and the preset conversion coefficient, and finally achieves the bending of the end of the catheter 48 by controlling the motor to rotate to the corresponding position. At this time, the change factors such as the drive wire length, the catheter length, and the Young's modulus caused by the increase in the use time of the catheter instrument are ignored or filtered out, thereby achieving the improvement of the accuracy of catheter control. In addition, in this embodiment, by considering the snake bone joint as a whole, that is, without considering the specific number of unit disks of the snake bone joint, and taking the snake bone joint as a whole to obtain its related parameters, the target length of each drive wire between the head and tail unit disks of the snake bone joint is finally calculated. In this way, the present solution can be made universal, so as to adapt to snake bone joints of different models and sizes.

[0176] Based on the first embodiment, Fig.12 As shown, in one embodiment, the step S50 may further include:

[0177] Step S16, reversely calculating the first actual joint angle and the second actual joint angle according to the expression formula of the target length of the first driving wire between the head and tail unit disks of the serpentine joint and the target length of the second driving wire between the head and tail unit disks of the serpentine joint, or according to the expression formula of the target length of the first driving wire, the second driving wire, the third driving wire and the fourth driving wire respectively between the head and tail unit disks of the serpentine joint;

[0178] Step S17, substituting the first actual joint angle and the second actual joint angle into the expression formula (2) of the corresponding joint to reversely calculate the actual bending angle;

[0179] Step S18, substituting the actual bending angle into the expression formula (1) of the corresponding joint, and inversely calculating the actual direction angle.

[0180] The actual bending angle is expressed as follows:

[0181]

[0182] The actual direction angle is expressed as follows:

[0183]

[0184] Among them, θ′ represents the actual bending angle, joint1′ represents the first actual joint angle, joint2′ represents the second actual joint angle, and α′ represents the actual direction angle.

[0185] This embodiment reversely calculates the actual bending angle and actual direction angle after the catheter tip is rotated based on the calculated target length of each drive wire between the head and tail unit disks of the snake bone joint. By presenting the actual bending angle and actual direction angle to the operator in the form of specific numerical values ​​or after image processing, the operator can more intuitively see the actual effect of the manipulation of the catheter tip. In this way, not only can the operator's operation be more in line with the user's intuition, but it also helps to improve the operator's understanding of the shape of the catheter instrument during cavity surgery.

[0186] In the second embodiment, the processor of the control system 600 is configured to perform the following steps to implement the driving space calculation method of the catheter provided in the present application. The difference between this embodiment and the first embodiment is that in this embodiment, the snake bone joint can include n unit disks 490, that is, for snake bone joints of different lengths, whether long snake bone joints or short snake bone joints, the scheme of this embodiment can be applied, so it is more flexible and accurate. Fig.13 As shown, the method includes:

[0187] Step S21, receiving a desired configuration space of the catheter tip via the user input device, wherein the desired configuration space includes a desired bending angle and a desired direction angle;

[0188] The specific implementation of step S21 of this embodiment is the same as that of step S11 of the first embodiment, and will not be repeated here.

[0189] Step S22, obtaining the number of unit discs of the snake bone joint;

[0190] In this embodiment, the number of the unit disks 490 is known and can be retrieved from the factory information of the catheter device.

[0191] Step S23, obtaining a correspondence between the expected bending angle, the expected direction angle, and a first expected joint angle corresponding to the first joint and a second expected joint angle corresponding to the second joint;

[0192] Compared with the first embodiment, this embodiment takes into account the specific number of unit disks of the snake bone joint, and thus can be applied to the snake bone joints of different lengths. The corresponding relationship can be expressed as follows:

[0193]

[0194]

[0195] Wherein, n represents the number of unit disks of the snake bone joint, α represents the desired direction angle, θ represents the desired bending angle, joint1 represents the first desired joint angle, and joint2 represents the second desired joint angle. Indicates the bending radius of one of the unit disks.

[0196] like Fig.14 As shown, coordinate systems (X0, Y0, Z0), ..., (X i , Y i , Z i ), the bending radius of each adjacent two unit disks located at the bottom is i The bending radius on the upper side will overlap with the coordinate axis X due to the deflection of the unit disk. i+1 Deviate, at this time, the bending radius on the upper side is i+1The angle between them is the second expected joint angle joint2, and the angle between the two bending radii is the first expected joint angle joint1. Among them, the expected bending angle θ can be understood as the sum of the first expected joint angles, that is: expected bending angle θ=sum(joint1)=n*joint1; the expected direction angle α can be understood as the sum of the second expected joint angles, that is: expected direction angle α=sum(joint2)=n*joint2. It should be understood that the size of each of the first expected joint angles joint1 is the same, and the size of each of the second expected joint angles joint2 is also the same. Based on this, the bending radius of each unit disk The sizes between are also the same.

[0197] Step S24, calculating the first expected joint angle and the second expected joint angle according to the expected bending angle, the expected direction angle and the corresponding relationship;

[0198] In this embodiment, the following formula can be obtained according to the above formulas (1) and (2):

[0199]

[0200] Substituting formula (3)' into the above formula (2)', the first desired joint angle can be calculated:

[0201]

[0202] Substituting formula (4)' into the above-calculated formula (3)', the second desired joint angle can be calculated:

[0203]

[0204] Step S25, obtaining the initial drive wire length, the first preset snake bone coefficient and the second preset snake bone coefficient of the drive wire between the head and tail unit disks of the snake bone joint when the snake bone joint is in a straight line state;

[0205] The specific implementation of step S24 of this embodiment is the same as that of step S14 of the first embodiment, and will not be repeated here.

[0206] Step S26, according to the number of unit disks, the first expected joint angle, the second expected joint angle, the initial drive wire length, the first preset snake bone coefficient and the second preset snake bone coefficient, calculate the drive space of the catheter end, the drive space includes the length of each drive wire.

[0207] Similar to the first embodiment, in this embodiment, the driving wire may include two driving wires, or may include three or more driving wires.

[0208] like Fig.15 As shown, when the driving wire includes a first driving wire and a second driving wire disposed adjacent to each other, the step S26 may further include:

[0209] Step S261, calculating the number of unit disks, a first product of the first preset serpentine coefficient and the first expected joint angle, and the number of unit disks, a second product of the second preset serpentine coefficient and the second expected joint angle;

[0210] In this embodiment, as described above, since the first preset serpentine coefficient represents the ratio between the length change of the drive wire at the serpentine joint and the first joint angle, the second preset serpentine coefficient represents the ratio between the length change of the drive wire at the serpentine joint and the second joint angle. Therefore, by calculating the first product of the number of unit disks 490, the first preset serpentine coefficient and the first expected joint angle, and the second product of the number of unit disks 490, the second preset serpentine coefficient and the second expected joint angle, the length change of the corresponding drive wire at the serpentine joint can be obtained.

[0211] Step S262, calculating the sum of the first product and the initial drive wire length, and the sum of the second product and the initial drive wire length, respectively obtaining the target length of the first drive wire between the first and last unit disks of the serpentine joint, and the target length of the second drive wire between the first and last unit disks of the serpentine joint; wherein the expression formulas of the length of the first drive wire and the target length of the second drive wire between the first and last unit disks of the serpentine joint are as follows:

[0212] l1=n*k1*joint1+l o ;

[0213] l2=n*k2*joint2+l o ;

[0214]

[0215] Among them, n represents the number of unit disks, l1 represents the target length of the first driving wire between the head and tail unit disks of the snake bone joint, l2 represents the target length of the second driving wire between the head and tail unit disks of the snake bone joint, k1 represents the first preset snake bone coefficient, k2 represents the second preset snake bone coefficient, joint1 represents the first expected joint angle, and joint2 represents the second expected joint angle; and n*k1*joint1 represents the length change of the first driving wire at the snake bone joint, and n*k2*joint2 represents the length change of the second driving wire at the snake bone joint.

[0216] In one embodiment, when the driving wire includes a first driving wire and a third driving wire that are arranged opposite to each other, and a second driving wire and a fourth driving wire that are arranged opposite to each other, the step S26 may further include:

[0217] Step S263, calculating a first product of the first preset snake-bone coefficient and the first expected joint angle, and a second product of the second preset snake-bone coefficient and the second expected joint angle, taking the negative value of the first product to obtain a third product, and taking the negative value of the second product to obtain a fourth product;

[0218] The specific implementation of step S253 of this embodiment is the same as that of step S153 of the first embodiment, and will not be repeated here.

[0219] Step S264, respectively calculating the sum of the first product, the second product, the third product, the fourth product and the initial drive wire length, to obtain the target lengths of the first drive wire, the second drive wire, the third drive wire and the fourth drive wire between the head and tail unit disks of the snake bone joint; wherein the expression formulas of the target lengths of the first drive wire, the second drive wire, the third drive wire and the fourth drive wire between the head and tail unit disks of the snake bone joint are as follows:

[0220] l1=n*(k1)*joint1+l o ;

[0221] l2=n*(k2)*joint2+l o ;

[0222] l3=n*(-k1)*joint1+l o ;

[0223] l4=n*(-k2)*joint2+l o ;

[0224]

[0225] Among them, l1 represents the target length of the first driving wire between the head and tail unit disks of the snake bone joint, l2 represents the target length of the second driving wire between the head and tail unit disks of the snake bone joint, l3 represents the target length of the third driving wire between the head and tail unit disks of the snake bone joint, l4 represents the target length of the fourth driving wire between the head and tail unit disks of the snake bone joint, k1 represents the first preset snake bone coefficient, k2 represents the second preset snake bone coefficient, joint1 represents the first expected joint angle, and joint2 represents the second expected joint angle; and n*(k1)*joint1 represents the length change of the first driving wire at the snake bone joint, n*(k2)*joint2 represents the length change of the second driving wire at the snake bone joint, n*(-k1)*joint1 represents the length change of the third driving wire at the snake bone joint, and n*(-k2)*joint2 represents the length change of the fourth driving wire at the snake bone joint. It can be understood that the first driving wire and the third driving wire have the same length change at the snake bone joint, but drive the first joint 491 to rotate in opposite directions; similarly, the second driving wire and the fourth driving wire have the same length change at the snake bone joint, but drive the second joint 492 to rotate in opposite directions.

[0226] The prior art solutions usually calculate the length or change of the overall drive wire, while the present application focuses on calculating the length or length change of the drive wire located at the serpentine joint, and then obtains the motor position based on the relationship between the drive wire length and the motor position and the preset conversion coefficient, and finally achieves the bending of the catheter end by controlling the motor to rotate to the corresponding position. At this time, the change factors such as the drive wire length, catheter length, and Young's modulus caused by the increase in the use time of the catheter instrument are ignored or filtered out, thereby achieving an improvement in the accuracy of catheter control. In addition, compared with the first embodiment, this embodiment takes into account the specific number of unit disks of the serpentine joint, and finally calculates the target length of each drive wire between the head and tail unit disks of the serpentine joint. In this way, not only can the serpentine joints of different lengths be applied, but also the calculation result of the target length of the drive wire can be made more accurate.

[0227] Based on the second embodiment, Fig.16 As shown, in one embodiment, the step S26 may further include:

[0228] Step S27, reversely calculating the first actual joint angle and the second actual joint angle according to the expression formula of the target length of the first driving wire between the head and tail unit disks of the serpentine joint and the target length of the second driving wire between the head and tail unit disks of the serpentine joint, or according to the expression formula of the target length of the first driving wire, the second driving wire, the third driving wire and the fourth driving wire respectively between the head and tail unit disks of the serpentine joint;

[0229] Step S28, substituting the first actual joint angle and the second actual joint angle into the expression formula (2) of the corresponding joint to reversely calculate the actual bending angle;

[0230] Step S29, substitute the actual bending angle into the expression formula (1) of the corresponding joint, and inversely calculate the actual direction angle.

[0231] The actual bending angle is expressed as follows:

[0232]

[0233] The actual direction angle is expressed as follows:

[0234]

[0235] Among them, θ′ represents the actual bending angle, joint1′ represents the first actual joint angle, joint2′ represents the second actual joint angle, and α′ represents the actual direction angle.

[0236] This embodiment reversely calculates the actual bending angle and actual direction angle after the catheter tip is rotated based on the calculated target length of each drive wire between the head and tail unit disks of the snake bone joint. By presenting the actual bending angle and actual direction angle to the operator in the form of specific numerical values ​​or after image processing, the operator can more intuitively see the actual effect of the manipulation of the catheter tip. In this way, not only can the operator's operation be more in line with the user's intuition, but it also helps to improve the operator's understanding of the shape of the catheter instrument during cavity surgery.

[0237] The present application also provides a control system for a catheter system. Fig.17 , which shows a schematic diagram of the structure of a control system of a catheter system provided by an embodiment of the present application. Fig.17 As shown, the control system 600 includes: a processor 60, a memory 61, a bus 62 and a communication interface 63, wherein the processor 60, the communication interface 63 and the memory 61 are connected via the bus 62; the memory 61 stores computer program instructions that can be executed by the processor 60, and when the processor 60 executes the computer program instructions, the driving space calculation method of the catheter provided in any of the aforementioned embodiments of the present application is executed.

[0238] The memory 61 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk memory. The communication connection between the device network element and at least one other network element is realized through at least one communication interface 63 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used.

[0239] The bus 62 may be an ISA bus, a PCI bus, or an EISA bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. The memory 61 is used to store a program, and the processor 60 executes the program after receiving an execution instruction. The driving space calculation method of the catheter disclosed in any implementation of the embodiment of the present application may be applied to the processor 60, or implemented by the processor 60.

[0240] The processor 60 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 60. The above processor 60 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in the embodiments of the present application can be directly embodied as a hardware decoding processor to be executed, or the hardware and software modules in the decoding processor can be executed. The software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 61, and the processor 60 reads the information in the memory 61 and completes the steps of the above method in combination with its hardware.

[0241] The catheter system provided in the embodiment of the present application and the method for calculating the driving space of the catheter provided in the embodiment of the present application are based on the same application concept and have the same beneficial effects as the methods adopted, operated or implemented therein.

[0242] The present application also provides a computer-readable storage medium corresponding to the method for calculating the driving space of the catheter provided in the above embodiment. Fig.18 , which shows a computer-readable storage medium 6 on which computer program instructions are stored. When the computer program instructions are executed by a processor, the driving space calculation method of the catheter provided in any of the aforementioned embodiments will be implemented.

[0243] It should be noted that examples of the computer-readable storage medium may include, but are not limited to, optical disks, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other optical or magnetic storage media, which are not listed here one by one.

[0244] The computer-readable storage medium provided in the above-mentioned embodiment of the present application and the method for calculating the driving space of the catheter provided in the embodiment of the present application are based on the same application concept and have the same beneficial effects as the method adopted, run or implemented by the application program stored therein.

[0245] The above description is only an optional embodiment of the present application, and does not limit the patent scope of the present application. All equivalent structural changes made by using the contents of the present application specification and drawings under the application concept of the present application, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A catheter system, characterized in that: The catheter system includes a mechanical arm, a catheter instrument engaged with a power unit of the mechanical arm, a user input device and a processor in communication with the mechanical arm, the catheter instrument includes an instrument box configured to be engaged with the power unit and a catheter connected to the instrument box, the instrument box includes a driving wheel configured to be driven by the power unit and a driving wire with one end wound around the driving wheel and the other end extending along the catheter and fixed to the end of the catheter; the end of the catheter has a snake-bone joint through which the driving wire is passed, and the snake-bone joint includes a first joint and a second joint perpendicular to each other; the processor is configured to perform the following steps: receiving, via the user input device, a desired configuration space of the catheter tip, the desired configuration space comprising a desired bend angle and a desired orientation angle; Acquire a correspondence between the expected bending angle, the expected direction angle, and a first expected joint angle corresponding to the first joint and a second expected joint angle corresponding to the second joint; Calculating the first expected joint angle and the second expected joint angle according to the expected bending angle, the expected direction angle and the corresponding relationship; Obtaining the initial drive wire length, the first preset snake bone coefficient and the second preset snake bone coefficient of the drive wire between the head and tail unit disks of the snake bone joint when the snake bone joint is in a straight line state; According to the first expected joint angle, the second expected joint angle, the initial drive wire length, the first preset snake bone coefficient and the second preset snake bone coefficient, the drive space of the catheter end is calculated, and the drive space includes the target length of each drive wire between the head and tail unit disks of the snake bone joint.

2. The catheter system according to claim 1, characterized in that The expression formula of the corresponding relationship is as follows: Among them, α represents the expected direction angle, θ represents the expected bending angle, joint1 represents the first expected joint angle, joint2 represents the second expected joint angle, and r represents the bending radius of the snake bone joint.

3. The catheter system according to claim 2, characterized in that The step of calculating the first expected joint angle and the second expected joint angle according to the expected bending angle, the expected direction angle and the corresponding relationship comprises: According to formula (1) (2), the following formula is obtained: joint2 = joint1 * tanα#(3); Substituting formula (3) into formula (2), the first desired joint angle is calculated: Substituting formula (4) into formula (3), the second desired joint angle is calculated:

4. The catheter system according to claim 3, characterized in that The driving wire comprises a first driving wire and a second driving wire arranged adjacent to each other, the first driving wire is arranged to drive the first joint to rotate, and the second driving wire is arranged to drive the second joint to rotate; the step of calculating the driving space of the catheter end according to the first expected joint angle, the second expected joint angle, the initial driving wire length, the first preset snake bone coefficient and the second preset snake bone coefficient comprises: Calculating a first product of the first preset snake-bone coefficient and the first desired joint angle, and a second product of the second preset snake-bone coefficient and the second desired joint angle; The sum of the first product and the initial drive wire length, and the sum of the second product and the initial drive wire length are calculated to obtain the target lengths of the first drive wire and the second drive wire between the head and tail unit disks of the snake bone joint, respectively; wherein the expression formula of the target lengths of the first drive wire and the second drive wire between the head and tail unit disks of the snake bone joint is as follows: l1=k1*joint1+L o ; <h2 style=";text-align:left;direction:ltr">l2 = k2 * join2 + l<h2 style=";text-align:left;direction:ltr"> o <h2 style=";text-align:left;direction:ltr"> ; Among them, l1 represents the target length of the first driving wire between the head and tail unit disks of the snake bone joint, l2 represents the target length of the second driving wire between the head and tail unit disks of the snake bone joint, k1 represents the first preset snake bone coefficient, k2 represents the second preset snake bone coefficient, joint1 represents the first expected joint angle, and joint2 represents the second expected joint angle.

5. The catheter system according to claim 3, characterized in that The driving wire comprises a first driving wire and a third driving wire which are arranged opposite to each other, and a second driving wire and a fourth driving wire which are arranged opposite to each other, wherein the first driving wire and the third driving wire are respectively arranged to drive the first joint to rotate in two directions, and the second driving wire and the fourth driving wire are respectively arranged to drive the second joint to rotate in two directions; the step of calculating the driving space of the catheter end according to the first expected joint angle, the second expected joint angle, the initial driving wire length, the first preset snake bone coefficient and the second preset snake bone coefficient, wherein the driving space comprises the length of each of the driving wires comprises: Calculate a first product of the first preset snake-bone coefficient and the first expected joint angle, a second product of the second preset snake-bone coefficient and the second expected joint angle, take the negative value of the first product to obtain a third product, and take the negative value of the second product to obtain a fourth product; The sum of the first product, the second product, the third product, the fourth product and the initial drive wire length is calculated respectively to obtain the target lengths of the first drive wire, the second drive wire, the third drive wire and the fourth drive wire between the head and tail unit disks of the snake bone joint; wherein the expression formulas of the target lengths of the first drive wire, the second drive wire, the third drive wire and the fourth drive wire between the head and tail unit disks of the snake bone joint are as follows: l1=(k1)*joint1+l o ; <h2 style=";text-align:left;direction:ltr">l2 = (k2) * join2 + l<h2 style=";text-align:left;direction:ltr"> o <h2 style=";text-align:left;direction:ltr"> ; l3=(-k1)*joint1+l o ; l4=(-k2)*joint2+l o ; Among them, l1 represents the target length of the first driving wire between the head and tail unit disks of the snake bone joint, l2 represents the target length of the second driving wire between the head and tail unit disks of the snake bone joint, l3 represents the target length of the third driving wire between the head and tail unit disks of the snake bone joint, l4 represents the target length of the fourth driving wire between the head and tail unit disks of the snake bone joint, k1 represents the first preset snake bone coefficient, k2 represents the second preset snake bone coefficient, joint1 represents the first expected joint angle, and joint2 represents the second expected joint angle.

6. The catheter system according to claim 4 or 5, characterized in that The processor is configured to perform the following specific steps: According to the expression formula of the target length of the first driving wire between the head and tail unit disks of the serpentine joint, the target length of the second driving wire between the head and tail unit disks of the serpentine joint, or according to the expression formula of the target length of the first driving wire, the second driving wire, the third driving wire and the fourth driving wire respectively between the head and tail unit disks of the serpentine joint, the first actual joint angle and the second actual joint angle are calculated inversely; Substituting the first actual joint angle and the second actual joint angle into the expression formula (2) of the corresponding joint, and inversely calculating the actual bending angle; Substitute the actual bending angle into the expression formula (1) of the corresponding joint to reversely calculate the actual direction angle; The actual bending angle is expressed as follows: The actual direction angle is expressed as follows: Among them, θ′ represents the actual bending angle, joint1′ represents the first actual joint angle, joint2′ represents the second actual joint angle, and α′ represents the actual direction angle.

7. The catheter system according to claim 1, characterized in that The processor is configured to perform the following specific steps: Obtaining the number of unit discs of the snake bone joint; According to the number of unit disks, the first expected joint angle, the second expected joint angle, the initial drive wire length, the first preset snake bone coefficient and the second preset snake bone coefficient, the drive space of the catheter end is calculated, and the drive space includes the length of each drive wire.

8. The catheter system according to claim 7, characterized in that The expression formula of the corresponding relationship is as follows: Wherein, n represents the number of unit disks of the snake bone joint, α represents the desired direction angle, θ represents the desired bending angle, joint1 represents the first desired joint angle, and joint2 represents the second desired joint angle. Indicates the bending radius of one of the unit disks.

9. The catheter system according to claim 8, characterized in that The step of calculating the first expected joint angle and the second expected joint angle according to the expected bending angle, the expected direction angle and the corresponding relationship comprises: According to formula (1)'(2)', the following formula is obtained: Substitute formula (3) into formula (2) to calculate the first desired joint angle: Substitute formula (4) into formula (3) to calculate the second desired joint angle:

10. The catheter system of claim 9, wherein: The drive wire comprises a first drive wire and a second drive wire arranged adjacent to each other, the first drive wire is arranged to drive the first joint to rotate, and the second drive wire is arranged to drive the second joint to rotate; the step of calculating the drive space of the catheter end according to the number of unit disks, the first expected joint angle, the second expected joint angle, the initial drive wire length, the first preset serpentine coefficient and the second preset serpentine coefficient, wherein the drive space includes the length of each of the drive wires comprises: Calculating a first product of the number of unit disks, the first preset serpentine coefficient and the first desired joint angle, and a second product of the number of unit disks, the second preset serpentine coefficient and the second desired joint angle; The sum of the first product and the initial drive wire length, and the sum of the second product and the initial drive wire length are calculated to obtain the target length of the first drive wire between the first and last unit disks of the snake bone joint, and the target length of the second drive wire between the first and last unit disks of the snake bone joint, respectively; wherein the expression formulas of the length of the first drive wire and the target length of the second drive wire between the first and last unit disks of the snake bone joint are as follows: l1=n*k1*joint1+l o ; <h2 style=";text-align:left;direction:ltr">l2 = n * k2 * join2 + l<h2 style=";text-align:left;direction:ltr"> o <h2 style=";text-align:left;direction:ltr"> ; Among them, l1 represents the target length of the first driving wire between the head and tail unit disks of the snake bone joint, l2 represents the target length of the second driving wire between the head and tail unit disks of the snake bone joint, k1 represents the first preset snake bone coefficient, k2 represents the second preset snake bone coefficient, joint1 represents the first expected joint angle, and joint2 represents the second expected joint angle.

11. The catheter system of claim 9, wherein: The drive wire comprises a first drive wire and a third drive wire which are arranged opposite to each other, and a second drive wire and a fourth drive wire which are arranged opposite to each other, wherein the first drive wire and the third drive wire are respectively arranged to drive the first joint to rotate in two directions, and the second drive wire and the fourth drive wire are respectively arranged to drive the second joint to rotate in two directions; the step of calculating the drive space of the catheter end according to the number of unit disks, the first expected joint angle, the second expected joint angle, the initial drive wire length, the first preset snake bone coefficient and the second preset snake bone coefficient, wherein the drive space includes the length of each of the drive wires comprises: Calculate a first product of the first preset snake-bone coefficient and the first expected joint angle, a second product of the second preset snake-bone coefficient and the second expected joint angle, take the negative value of the first product to obtain a third product, and take the negative value of the second product to obtain a fourth product; The sum of the first product, the second product, the third product, the fourth product and the initial drive wire length is calculated respectively to obtain the target lengths of the first drive wire, the second drive wire, the third drive wire and the fourth drive wire between the head and tail unit disks of the snake bone joint; wherein the target lengths of the first drive wire, the second drive wire, the third drive wire and the fourth drive wire between the head and tail unit disks of the snake bone joint are expressed as follows: l1=n*(k1)*joint1+l o ; <h2 style=";text-align:left;direction:ltr">l2 = n*(k2)*joint2+l<h2 style=";text-align:left;direction:ltr"> o <h2 style=";text-align:left;direction:ltr"> ; l3=n*(-k1)*joint1+l o ; l4=n*(-k2)*joint2+l o ; Among them, l1 represents the target length of the first driving wire between the head and tail unit disks of the snake bone joint, l2 represents the target length of the second driving wire between the head and tail unit disks of the snake bone joint, l3 represents the target length of the third driving wire between the head and tail unit disks of the snake bone joint, l4 represents the target length of the fourth driving wire between the head and tail unit disks of the snake bone joint, k1 represents the first preset snake bone coefficient, k2 represents the second preset snake bone coefficient, joint1 represents the first expected joint angle, and joint2 represents the second expected joint angle.

12. The catheter system according to claim 10 or 11, characterized in that The processor is configured to perform the following specific steps: According to the expression formula of the target length of the first driving wire between the head and tail unit disks of the serpentine joint, the target length of the second driving wire between the head and tail unit disks of the serpentine joint, or according to the expression formula of the target length of the first driving wire, the second driving wire, the third driving wire and the fourth driving wire respectively between the head and tail unit disks of the serpentine joint, the first actual joint angle and the second actual joint angle are calculated inversely; Substituting the first actual joint angle and the second actual joint angle into the expression formula (2) of the corresponding joint, and inversely calculating the actual bending angle; Substitute the actual bending angle into the expression formula (1) of the corresponding joint to reversely calculate the actual direction angle; The actual bending angle is expressed as follows: The actual direction angle is expressed as follows: Among them, θ′ represents the actual bending angle, joint1′ represents the first actual joint angle, joint2′ represents the second actual joint angle, n represents the number of unit disks, and α′ represents the actual direction angle.

13. A method for calculating the driving space of a catheter, characterized in that: The end of the catheter has a snake-bone joint through which a driving wire is passed, and the snake-bone joint includes a first joint and a second joint that are perpendicular to each other; the driving space calculation method of the catheter includes the following steps: receiving, via a user input device, a desired configuration space of the catheter tip, the desired configuration space comprising a desired bend angle and a desired orientation angle; Acquire a correspondence between the expected bending angle, the expected direction angle, and a first expected joint angle corresponding to the first joint and a second expected joint angle corresponding to the second joint; Calculating the first expected joint angle and the second expected joint angle according to the expected bending angle, the expected direction angle and the corresponding relationship; Obtaining the initial drive wire length, the first preset snake bone coefficient and the second preset snake bone coefficient of the drive wire between the head and tail unit disks of the snake bone joint when the snake bone joint is in a straight line state; According to the first expected joint angle, the second expected joint angle, the initial drive wire length, the first preset snake bone coefficient and the second preset snake bone coefficient, the drive space of the catheter end is calculated, and the drive space includes the target length of each drive wire between the head and tail unit disks of the snake bone joint.

14. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions, which are configured to be loaded and executed by a processor to implement the steps of the method according to claim 13 .

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