Interventional operation robot system for percutaneous patent foramen ovale plugging

Abstract

The invention provides a percutaneous patent foramen ovale plugging interventional operation robot system, and relates to the technical field of patent foramen ovale plugging interventional operations. The interventional surgery robot system is configured to obtain cardiac image data and occluder structure data, perform occlusion positioning and shunt analysis, and determine an occlusion mounting position area and unclosed shunt data; real-time placement position information of the plugging device is obtained, real-time plugging positioning analysis is carried out in combination with the plugging installation position area, and real-time positioning plugging result information is formed; on the basis of the real-time positioning plugging result information, real-time shunting data of the plugging area is obtained, plugging effect analysis is carried out in combination with the unclosed shunting data, and plugging effect analysis result information is formed; according to the interventional operation robot system, real-time monitoring of the overall effect of the plugging device from installation to after installation is achieved by collecting and analyzing real-time installation data of the plugging device, the success rate of the operation is further increased, and the efficiency of the whole clinical operation is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of patent foramen ovale closure interventional surgery, and in particular to a percutaneous patent foramen ovale closure interventional surgery robot system. Background Art

[0002] Patent foramen ovale (PFO) closure surgery is typically performed percutaneously, where a catheter is used to deliver an occluder to the foramen ovale in the heart. Given the critical accuracy of cardiac contractions, this requires high surgical skill from the surgeon, and surgical uncertainties often impact the outcome. Currently, robotic assisted access surgery is also being offered. Robotic assistance can enable more precise control, reduce human error, and improve surgical success rates.

[0003] Currently, robots assisting in interventional surgeries for patent foramen ovale closure primarily provide visual images during surgery and enable stable and accurate occluder installation under the control of a controller. However, there is no real-time, reliable confirmation of the occluder's suitability after installation. This is often done through postoperative flow diversion, making immediate corrections and proper installation impossible.

[0004] Therefore, designing an interventional surgical robot system for percutaneous patent foramen ovale closure to further improve the success rate of the operation and increase the efficiency of the entire clinical operation is an urgent problem to be solved. Summary of the Invention

[0005] The object of the present invention is to provide an interventional surgical robot system for percutaneous patent foramen ovale closure, which establishes a corresponding dynamic model by collecting cardiac impact data of the target heart and then can perform a reasonable fitting analysis on the installation of the occluder, determine the installation position information of the occluder for theoretical installation and completion of the occlusion, and provide a reasonable and accurate judgment standard for real-time analysis of the installation status of the occluder. At the same time, after confirming the installation position of the occluder, the corresponding shunt data is obtained in real time to judge the occlusion effect of the occluder. On the one hand, the installation effect can be comprehensively judged from the aspects of the installation structure and the application effect after installation, making the installation analysis of the occluder more comprehensive. On the other hand, since real-time data analysis is performed during the operation, the unreasonable installation of the occluder can be adjusted in time to avoid the trouble of secondary surgery. While improving the efficiency of the overall operation, it can also further increase the success rate of the operation.

[0006] In a first aspect, the present invention provides an interventional surgical robot system for percutaneous patent foramen ovale closure, which is configured to: obtain cardiac imaging data and occluder structure data, perform occlusion positioning and shunt analysis, and determine the occlusion installation position area and unsealed shunt data; obtain real-time placement position information of the occluder, and perform real-time occlusion positioning analysis in combination with the occlusion installation position area to form real-time positioning occlusion result information; based on the real-time positioning occlusion result information, obtain real-time shunt data of the occlusion area, and perform occlusion effect analysis in combination with the unsealed shunt data to form occlusion effect analysis result information.

[0007] In the present invention, the interventional surgical robot system establishes a corresponding dynamic model by collecting cardiac impact data of the target heart, and can then perform a reasonable fitting analysis on the installation of the occluder, determine the installation position information of the occluder for theoretical installation to complete the occlusion, and provide a reasonable and accurate judgment standard for real-time analysis of the installation status of the occluder. At the same time, after confirming the installation position of the occluder, the corresponding shunt data is obtained in real time to judge the occlusion effect of the occluder. On the one hand, the installation effect can be comprehensively judged from the aspects of the installation structure and the application effect after installation, making the installation analysis of the occluder more comprehensive. On the other hand, since real-time data analysis is performed during the operation, the unreasonable installation of the occluder can be adjusted in time to avoid the trouble of secondary surgery. While improving the efficiency of the overall operation, it can also further increase the success rate of the operation.

[0008] As a possible implementation method, cardiac imaging data and occluder structure data are obtained, occlusion positioning and shunt analysis are performed, and the occlusion installation position area and unsealed shunt data are determined, including: calibrating the foramen ovale based on the cardiac imaging data to determine the foramen ovale position area information; performing installation positioning analysis based on the cardiac imaging data, combining the foramen ovale position area information and the occlusion structure data, to determine the occlusion installation position area; and performing shunt feature analysis based on time parameters based on the cardiac imaging data to form unsealed shunt data.

[0009] In the present invention, in order to confirm the installation effect of the occluder during the patent foramen ovale surgery, it is necessary to analyze and judge the rationality of the installation position of the occluder and the blood shunting situation after installation. The standard for performing the analysis and judgment of these two aspects is to have corresponding standard comparison data for reference. Therefore, before confirming the installation effect of the occluder, it is necessary to obtain the installation position of the occluder and extract the shunting data of the blood through the foramen ovale to form accurate and reasonable reference comparison data. Here, the reference comparison data of the installation position of the occluder is obtained by positioning, analyzing and judging the image data obtained from the heart and the appropriate occluder structure data to be used. The reference comparison data of the blocking effect of the occluder is determined by extracting and analyzing the shunting influence data of the blood before the foramen ovale is blocked.

[0010] As a possible implementation method, the foramen ovale is calibrated based on cardiac imaging data to determine the foramen ovale position area information, including: establishing a cardiac dynamic model of the target heart within the analysis time period based on cardiac impact data; determining the center position change information of the foramen ovale based on the cardiac dynamic model; extracting the foramen ovale position information based on the center position change information in the following manner: arbitrarily extracting m center points at intervals from the center position change information; determining the foramen ovale range corresponding to each center point based on the cardiac dynamic model; obtaining the foramen ovale range with the largest diameter corresponding to the m center points, and calibrating it as the effective foramen ovale diameter; and determining the foramen ovale position area information based on the effective foramen ovale diameter and the center position change information.

[0011] In the present invention, by acquiring cardiac imaging data, a data model of the heart can be established, which serves as a prerequisite for determining the position of the occluder during positional analysis. Due to the dynamic nature of the heart, the data model to be established includes modeling the heart's dynamic structure using imaging data. Because cardiac contractions involve periodic motion, a dynamic model is necessary to ensure the accurate determination of the foramen ovale and the occluder's installation position. The model also includes characteristic parameters such as the contractility of the heart's muscles, the adhesion and conformability of the contact area with the occluder, etc., to ensure proper selection of the occluder and the structural seal and compatibility of the simulated installation using the model. The analysis duration must ensure at least a reasonable cardiac contraction cycle, which can be the duration of a single cardiac contraction. If the cardiac contraction in the patient exhibits individual positional fluctuations, the periodicity of these positional fluctuations must also be included. This means that the cardiac contraction process can cause deformation in the surrounding tissues, and this deformation is either periodic or limited in range. This periodicity and limited range must be included. For the foramen ovale, in actual situations, considering the muscle movement itself, it is not necessarily an absolute circular hole. To ensure that the occluder effectively blocks the foramen ovale, it is necessary to obtain the maximum possible hole position data of the foramen ovale. Therefore, when extracting the hole position data, the dynamic model data is used to extract the corresponding maximum aperture data at any dynamic time point for comparative analysis to determine the possible maximum aperture information, and then the center point of the foramen ovale during dynamic movement is used to form the corresponding maximum position range data of the foramen ovale under each dynamic state, providing accurate and reasonable data information for subsequent analysis and processing. Of course, it should be noted that, on the one hand, the calibration of the foramen ovale can be identified by feature extraction using big data, or it can be determined by intelligent learning based on intelligent means. On the other hand, the number of center points and the interval position of the center point extraction can be determined according to actual conditions. As long as the center point change position range under the entire analysis time can be reasonably covered, it is desirable.

[0012] As a possible implementation method, based on cardiac imaging data, combined with foramen ovale position area information and occlusion structure data, installation positioning analysis is performed to determine the occlusion installation position area, including: determining the corresponding occluder based on the effective foramen ovale diameter and obtaining the occlusion structure data of the occluder; calibrating the hole center overlap area based on the occluder structure data; combining the occluder structure data, foramen ovale position area information and circle center position change information, and performing the following installation position analysis: based on the circle center position change information, limiting the position of each circle center point to ensure that the circle center point is located in the hole center overlap area of ​​the occluder; adjusting the position of the circle center point located in the hole center overlap area so that the occluder achieves complete contact with the hole edge of the foramen ovale within the entire foramen ovale change area, forming the occluder installation position corresponding to the circle center point; extracting the occluder installation positions corresponding to all circle center points in the circle center position change information to form the occluder installation position area.

[0013] In the present invention, after determining the positional variation of the foramen ovale over the entire analysis time, since the absolute size of the foramen ovale varies from individual to individual, obtaining reasonable and accurate occluder installation position data requires first selecting an occluder of appropriate size based on the foramen ovale's locational area information. The occluder's structural data is then extracted and a reasonable simulated assembly is performed on a dynamic model to determine the positional variation of the occluder over the entire analysis time, generating the occluder installation positional area data. Of course, during the simulated assembly, it is understood that the occluder has a certain degree of adjustability both radially and perpendicular to the foramen ovale. Therefore, this installation adjustment positional limit is used to define the center of the foramen ovale, thereby determining a reasonable positional range for occluder installation.

[0014] As a possible implementation method, a shunt feature analysis based on time parameters is performed based on cardiac imaging data to generate unclosed shunt data, including: calibrating the patent foramen ovale shunt influence area based on the cardiac dynamic model; extracting the unclosed shunt flow velocity V at the boundary of the patent foramen ovale shunt influence area within the analysis time based on the cardiac impact data. before [f(x, y, z, t analysis )], where f(x, y, z, t analysis ) represents the model curve function of the boundary of the shunt area affected by the patent foramen ovale during the analysis time, t analysis Represents the analysis time; according to the cardiac impact data, the patent shunt direction D on the boundary of the patent foramen ovale shunt influence area within the analysis time is extracted before [f(x, y, z, t)]; combined with the unclosed shunt flow velocity V before [f(x, y, z, t)] and the direction of the unclosed shunt D before[f(x, y, z, t)], forming unclosed diversion data.

[0015] In the present invention, the main function of installing the occluder is to block the foramen ovale to prevent blood from shunting between the left and right ventricles through the foramen ovale. If the occluder is not installed correctly or the foramen ovale is not closed, there will be residual shunting or complete shunting near the foramen ovale. Therefore, obtaining blood shunting data in the case of a patent foramen ovale can be used as a reference to determine whether the occluder is installed properly and effectively. Of course, considering that the occluder will occupy the space near the foramen ovale after installation, the space occupied by itself cannot be used to obtain shunting data after installation. Therefore, the definition of the shunting area affected by the patent foramen ovale can be relatively expanded to ensure that data can be obtained in the boundary area whether the foramen ovale is patent or after the occluder is installed. The size and location of the shunting area affected by the patent foramen ovale can be determined according to actual needs, or it can be determined by analyzing the shunting boundary area based on big data. The shunt data to be extracted include the shunt flow rate information and the shunt direction information. It can be understood that if the occluder is installed reasonably and has a blocking effect, the blood in the left and right ventricles will not be shunted through the foramen ovale, and the shunt speed will not be generated, nor will it affect the blood flow direction in the ventricle. Therefore, the shunt flow rate and shunt direction need to be comprehensively acquired for subsequent analysis and judgment to ensure the comprehensive and effective implementation of the occluder installation effect.

[0016] As a possible implementation method, the real-time placement position information of the occluder is obtained, and real-time occlusion positioning analysis is performed in combination with the occlusion installation position area to form real-time positioning occlusion result information, including: determining the real-time installation position of the occluder corresponding to each time point in the real-time monitoring duration based on the real-time placement position information of the occluder; mapping the real-time monitoring duration and the analysis duration by time points to determine the real-time installation positions of the occluder that are mapped to each other in position and the occluder installation positions in the occluder installation position area; performing real-time occlusion positioning analysis based on position overlap based on all the real-time installation positions of the occluder and the occluder installation positions that are mapped to each other in position to form real-time positioning occlusion result information.

[0017] In the present invention, whether the occluder is properly installed is a prerequisite for determining whether the occluder has effectively blocked the foramen ovale. Therefore, the judgment of the installation effect of the occluder begins with the judgment of the installation position. Only after the installation position is analyzed with the provided reference comparison data to determine that the installation is reasonable, the further judgment of the diversion effect is carried out. The two types of analysis and judgment have a progressive hierarchy, which can further improve the confirmation of the installation effect of the occluder and increase the accuracy and rationality of the analysis. Of course, the structural conditions near the foramen ovale will change to a certain extent after the occluder is installed due to the release of the occluder, but this will not cause significant distortion of the reference comparison data. Therefore, after installation, the real-time installation position data of the occluder can be obtained in real time under a real-time monitoring time equivalent to the analysis time, and then matched and mapped with the occluder installation position data obtained under the analysis time to achieve a reasonable installation effect analysis and comparison.

[0018] As a possible implementation method, a real-time blocking positioning analysis based on the positional coincidence is performed according to the real-time installation positions of all occluders and the installation positions of the occluders that are mapped to each other, so as to form real-time positioning blocking result information, including: performing the following real-time blocking positioning analysis according to the real-time installation positions of all occluders and the installation positions of the occluders that are mapped to each other: setting a point blocking coincidence threshold and a total coincidence blocking threshold; if the coincidence of each real-time installation position of the occluder and the installation position of the occluder that are mapped to each other reaches the point blocking coincidence threshold, and the coincidence of all the real-time installation positions of the occluder and the installation positions of the occluder that are mapped to each other reaches the point blocking coincidence threshold, and the coincidence of all the real-time installation positions of the occluder and the installation positions of the occluder that are mapped to each other reaches the point blocking coincidence threshold, If the sum of the degrees of coincidence reaches the total overlap blocking threshold, the blocking installation compliance information is generated; if the degree of coincidence between all mutually mapped occluder real-time installation positions and occluder installation positions does not reach the point blocking overlap threshold, the blocking installation non-compliance information is generated, and the occluder real-time installation positions that do not reach the point blocking overlap threshold are calibrated; if the degree of coincidence between each mutually mapped occluder real-time installation position and occluder installation position reaches the point blocking overlap threshold, but the sum of the degrees of coincidence at all positions does not reach the total overlap blocking threshold, the blocking installation non-compliance information is generated.

[0019] In the present invention, the comparative judgment of the rationality of the installation position of the occluder mainly considers two aspects. On the one hand, the corresponding real-time installation position of each occlusion and the installation position of the occluder are mapped in the time dimension to judge the size of the overlap. Considering that the installation of the occluder will cause a certain degree of model data distortion and the error of the actual installation, the two mapped matching data will not completely overlap. When a certain degree of overlap is achieved, it is possible to judge whether the installation is reasonable. On the other hand, considering that the installation positions between different time points have a dynamic relationship with each other, it is also necessary to judge the size of the overlap in the entire time dimension to avoid the impact of dynamic changes on the installation effect of the occluder. The point block overlap threshold and the total overlap block threshold can be set according to the actual situation, or they can be determined by combining big data to analyze the model changes before and after installation.

[0020] As a possible implementation method, based on the real-time positioning and blocking result information, the real-time diversion data of the blocking area is obtained, and the blocking effect is analyzed in combination with the unblocked diversion data to form the blocking effect analysis result information, including: when the real-time positioning and blocking result information is the blocking installation standard information, the blocking diversion flow velocity V on the boundary of the patent foramen ovale diversion influence area during the real-time monitoring period is obtained. after [f(x, y, z, t monitor )], conduct plugging effect analysis based on flow velocity to form the plugging flow velocity impact result, where f(x, y, z, t monitor ) represents the model curve function of the boundary of the patent foramen ovale shunt influence area during the real-time monitoring period, t monitor Indicates the real-time monitoring duration; obtains the blocking and diversion direction on the boundary of the patent foramen ovale diversion area during the real-time monitoring duration Conduct direction-based plugging effect analysis to form plugging direction impact results; combine the plugging flow velocity impact results and the plugging direction impact results to form the plugging effect analysis result information.

[0021] In the present invention, if the analysis and judgment of the installation position of the occluder shows that the installation is reasonable, the occluding effect produced by the occluder can be further compared and analyzed. Similarly, the shunt flow rate and shunt direction data on the boundary of the shunt influence area of ​​the patent foramen ovale after the installation of the occluder are obtained during the real-time monitoring period, and used as comparative analysis data with the shunt data before occlusion, and comparative analysis data on two aspects of the shunt are performed to achieve a reasonable analysis and judgment of the occluding effect of the occluder. Similarly, the shunt data obtained also corresponds to the shunt data obtained during the analysis period in the time dimension to ensure that the analysis and comparison have reasonable comparability in the time dimension, and to ensure the correctness and rationality of the analysis and comparison.

[0022] As a possible implementation method, a plugging effect analysis based on flow velocity is performed to form a plugging flow velocity impact result, including: obtaining the unclosed shunt flow velocity V before [f(x, y, z, t analysis )], and combined with the plugging and diversion flow rate V after [f(x, y, z, t monitor )], if satisfied The information of the blocking flow rate reaching the standard is formed, wherein x0 represents the minimum value of the first direction on the boundary of the shunt area affected by the patent foramen ovale during the real-time monitoring period, x1 represents the maximum value of the first direction on the boundary of the shunt area affected by the patent foramen ovale during the real-time monitoring period, and a represents the analysis threshold of the shunt flow rate blocking effect; if it is not satisfied

[0023] Then the information of plugging velocity not meeting the standard is formed; the plugging effect analysis based on direction is carried out to form the plugging direction impact result, including: obtaining the unclosed diversion direction D before [f(x, y, z, t)], and combined with the blocking diversion direction D after [f(x, y, z, t monitor )], if satisfied

[0024] Among them, b represents the analysis threshold of the blocking effect in the diversion direction, which forms the blocking direction compliance information; if it does not meet the

[0025] This will generate information that the blocking direction does not meet the standards.

[0026] In the present invention, complete occlusion of the foramen ovale by the occluder is the most effective approach. However, due to the motion characteristics of the heart, the occlusion of the foramen ovale will also vary to a certain extent with the dynamic changes of the heart. Therefore, partial shunt will occur under certain dynamic conditions. However, this magnitude can be determined by limiting the cumulative magnitude during analysis and judgment, ensuring that the analysis and judgment conditions are adaptable to the actual situation and the judgment is reasonable. Of course, this cumulative magnitude is calculated over the entire boundary area and the entire time dimension, so it is necessary to integrate it over the time dimension and the boundary curve. The threshold for analyzing the occlusion effect can be determined based on the actual situation, or it can be determined by combining big data analysis of the maximum cumulative shunt allowed by the occlusion.

[0027] As a possible implementation method, the blocking flow velocity influence result and the blocking direction influence result are combined to form the blocking effect analysis result information, including: if the blocking flow velocity influence result is the blocking flow velocity meeting the standard information, and the blocking direction influence result is the blocking direction meeting the standard information, then the blocking installation normal information is formed; if the blocking flow velocity influence result is the blocking flow velocity not meeting the standard information, and the blocking direction influence result is the blocking direction meeting the standard information, then the blocking installation abnormal information is formed; if the blocking flow velocity influence result is the blocking flow velocity meeting the standard information, and the blocking direction influence result is the blocking direction not meeting the standard information, then the blocking installation abnormal information is formed.

[0028] In the present invention, in the analysis and judgment of the blocking effect of the occluder, the blocking effect of the occluder can only be considered to have been achieved if both the flow rate and the direction of the diversion meet the judgment criteria. If any aspect of the diversion fails to meet the criteria, it is considered that the occluder is installed improperly. The installation position can be adjusted to a certain extent based on the feedback effect, and the installation position of the occluder can be adjusted in real time during the operation, thereby improving the installation success rate and work efficiency and avoiding secondary surgery.

[0029] The beneficial effects of the percutaneous patent foramen ovale closure interventional surgical robot system provided by the present invention are:

[0030] The interventional surgical robot system establishes a corresponding dynamic model by collecting cardiac impact data of the target heart, and can then perform a reasonable fitting analysis on the installation of the occluder, determine the installation position information of the occluder for theoretical installation to complete the occlusion, and provide a reasonable and accurate judgment standard for real-time analysis of the installation status of the occluder. At the same time, after confirming the installation position of the occluder, the corresponding shunt data is obtained in real time to judge the occlusion effect of the occluder. On the one hand, the installation effect can be comprehensively judged from the aspects of the installation structure and the application effect after installation, making the installation analysis of the occluder more comprehensive. On the other hand, since real-time data analysis is performed during the operation, the unreasonable installation of the occluder can be adjusted in time to avoid the trouble of secondary surgery. While improving the efficiency of the overall operation, it can also further increase the success rate of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments of the present invention. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0032] Figure 1 A diagram illustrating the working steps of an interventional surgical robot system for percutaneous patent foramen ovale closure provided by an embodiment of the present invention;

[0033] Figure 2 A schematic structural diagram of an interventional surgical robot system for percutaneous patent foramen ovale closure provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present invention will be described below with reference to the accompanying drawings in the embodiments of the present invention.

[0035] Patent foramen ovale (PFO) closure surgery is typically performed percutaneously, where a catheter is used to deliver an occluder to the foramen ovale in the heart. Given the critical accuracy of cardiac contractions, this requires high surgical skill from the surgeon, and surgical uncertainties often impact the outcome. Currently, robotic assisted access surgery is also being offered. Robotic assistance can enable more precise control, reduce human error, and improve surgical success rates.

[0036] Currently, robots assisting in interventional surgeries for patent foramen ovale closure primarily provide visual images during surgery and enable stable and accurate occluder installation under the control of a controller. However, there is no real-time, reliable confirmation of the occluder's suitability after installation. This is often done through postoperative flow diversion, making immediate corrections and proper installation impossible.

[0037] refer to Figures 1 and 2 An embodiment of the present invention provides an interventional surgical robot system for percutaneous patent foramen ovale closure. The system establishes a corresponding dynamic model by collecting cardiac impact data of the target heart, and can then perform a reasonable fitting analysis on the installation of the occluder, determine the installation position information of the occluder for theoretical installation and completion of the occlusion, and provide a reasonable and accurate judgment standard for real-time analysis of the installation status of the occluder. At the same time, after confirming the installation position of the occluder, the corresponding shunt data is obtained in real time to judge the occlusion effect of the occluder. On the one hand, the installation effect can be comprehensively judged from the aspects of the installation structure and the application effect after installation, making the installation analysis of the occluder more comprehensive. On the other hand, because real-time data analysis is performed during the operation, improper installation of the occluder can be adjusted in a timely manner, avoiding the trouble of secondary surgery, thereby improving the efficiency of the overall operation and further increasing the success rate of the operation.

[0038] The specific configuration of the interventional surgical robot system for percutaneous patent foramen ovale closure is as follows:

[0039] S1: Acquire cardiac imaging data and occluder structure data, perform occlusion positioning and shunt analysis, and determine the occlusion installation location area and unsealed shunt data.

[0040] Acquire cardiac imaging data and occluder structure data, perform occlusion positioning and shunt analysis, and determine the occlusion installation position area and unsealed shunt data, including: calibrating the foramen ovale based on cardiac imaging data to determine the foramen ovale position area information; performing installation positioning analysis based on cardiac imaging data, combined with the foramen ovale position area information and occlusion structure data, to determine the occlusion installation position area; and performing shunt feature analysis based on time parameters based on cardiac imaging data to generate unsealed shunt data.

[0041] In order to confirm the installation effect of the occluder during the patent foramen ovale surgery, it is necessary to analyze and judge the rationality of the installation position of the occluder and the blood shunting situation after installation. The standard for conducting analysis and judgment in these two aspects is to have corresponding standard comparison data for reference. Therefore, before confirming the installation effect of the occluder, it is necessary to obtain the installation position of the occluder and extract the shunting data of blood through the foramen ovale to form accurate and reasonable reference comparison data. Here, the reference comparison data of the installation position of the occluder is obtained by positioning, analyzing and judging the imaging data obtained from the heart and the appropriate occluder structure data to be used. The reference comparison data of the blocking effect of the occluder is determined by extracting and analyzing the shunting influence data of the blood before the foramen ovale is blocked.

[0042] The foramen ovale is calibrated based on cardiac imaging data to determine the location area information of the foramen ovale, including: establishing a cardiac dynamic model of the target heart within the analysis time period based on cardiac impact data; determining the center position change information of the foramen ovale based on the cardiac dynamic model; extracting the foramen ovale location information based on the center position change information in the following manner: arbitrarily extracting m center points at intervals from the center position change information; determining the foramen ovale range corresponding to each center point based on the cardiac dynamic model; obtaining the foramen ovale range with the largest diameter corresponding to the m center points, and calibrating it as the effective foramen ovale diameter; and determining the foramen ovale location area information based on the effective foramen ovale diameter and the center position change information.

[0043] By acquiring cardiac imaging data, a data model of the heart can be established, serving as a prerequisite for determining the location of the occluder during positional analysis. Due to the dynamic nature of the heart, the data model to be established includes modeling the heart's dynamic structure using imaging data. Because cardiac contractions involve periodic motion, a dynamic model is necessary to ensure accurate determination of the foramen ovale and the occluder's position. The model also includes characteristic parameters such as the contractility of the heart's muscles, adhesion to the contact area with the occluder, and conformability to ensure proper occluder selection and structural sealing and compatibility during simulated installation using the model. The analysis duration must ensure at least a reasonable cardiac contraction cycle, which can be the duration of a single cardiac contraction. If the cardiac contraction in the patient exhibits individual positional fluctuations, the periodicity of these positional fluctuations must also be included. This means that the cardiac contraction process can cause deformation in surrounding tissues, and if this deformation is periodic or has a limited range, then this periodicity and limited range must be included. For the foramen ovale, in actual situations, considering the muscle movement itself, it is not necessarily an absolute circular hole. To ensure that the occluder effectively blocks the foramen ovale, it is necessary to obtain the maximum possible hole position data of the foramen ovale. Therefore, when extracting the hole position data, the dynamic model data is used to extract the corresponding maximum aperture data at any dynamic time point for comparative analysis to determine the possible maximum aperture information, and then the center point of the foramen ovale during dynamic movement is used to form the corresponding maximum position range data of the foramen ovale under each dynamic state, providing accurate and reasonable data information for subsequent analysis and processing. Of course, it should be noted that, on the one hand, the calibration of the foramen ovale can be identified by feature extraction using big data, or it can be determined by intelligent learning based on intelligent means. On the other hand, the number of center points and the interval position of the center point extraction can be determined according to actual conditions. As long as the center point change position range under the entire analysis time can be reasonably covered, it is desirable.

[0044] Based on cardiac imaging data, combined with foramen ovale position area information and occlusion structure data, installation positioning analysis is performed to determine the occlusion installation position area, including: determining the corresponding occluder based on the effective foramen ovale diameter and obtaining the occlusion structure data of the occluder; calibrating the hole center overlap area based on the occluder structure data; combining the occluder structure data, foramen ovale position area information, and circle center position change information, and performing the following installation position analysis: based on the circle center position change information, limiting the position of each circle center point to ensure that the circle center point is located in the hole center overlap area of ​​the occluder; adjusting the position of the circle center point located in the hole center overlap area so that the occluder achieves complete contact with the hole edge of the foramen ovale within the entire foramen ovale change area, forming the occluder installation position corresponding to the circle center point; extracting the occluder installation positions corresponding to all circle center points in the circle center position change information to form the occluder installation position area.

[0045] After determining the positional changes of the foramen ovale over the entire analysis time, since the absolute size of the foramen ovale varies from individual to individual, obtaining reasonable and accurate occluder installation position data requires first selecting an occluder of appropriate size based on the foramen ovale's positional area information. The occluder's structural data is then extracted and a reasonable simulated assembly is performed on the dynamic model to determine the positional changes of the occluder over the entire analysis time, generating the occluder installation position area data. Of course, during the simulated assembly, it is understood that the occluder has a certain degree of adjustability both radially and perpendicular to the foramen ovale. Therefore, the center of the foramen ovale is limited by this installation adjustment positional limit range to determine a reasonable occluder installation position range.

[0046] Based on the cardiac imaging data, a shunt feature analysis based on time parameters is performed to generate unclosed shunt data, including: calibration of the patent foramen ovale shunt influence area based on the cardiac dynamic model; extraction of the unclosed shunt flow velocity V at the boundary of the patent foramen ovale shunt influence area within the analysis time based on the cardiac impact data. before [f(x, y, z, t analysis )], where f(x, y, z, t analysis ) represents the model curve function of the boundary of the shunt area affected by the patent foramen ovale during the analysis time, t analysis Represents the analysis time; according to the cardiac impact data, the patent shunt direction D on the boundary of the patent foramen ovale shunt influence area within the analysis time is extracted before [f(x, y, z, t)]; combined with the unclosed shunt flow velocity V before [f(x, y, z, t)] and the direction of the unclosed shunt D before [f(x, y, z, t)], forming unclosed diversion data.

[0047] The main purpose of installing an occluder is to block the foramen ovale and prevent blood from shunting between the left and right ventricles through the foramen ovale. If the occluder is not installed correctly or the foramen ovale is not closed, there will be residual shunting or complete shunting near the foramen ovale. Therefore, obtaining blood shunt data in the case of a patent foramen ovale can be used as a reference to determine whether the occluder is properly installed and effective. Of course, considering that the occluder will occupy the space near the foramen ovale after installation, the space occupied by the occluder itself cannot be used to obtain shunting data after installation. Therefore, the definition of the area affected by the patent foramen ovale shunt can be relatively expanded to ensure that data can be obtained in the boundary area whether the foramen ovale is patent or after the occluder is installed. The size and location of the area affected by the patent foramen ovale shunt can be determined according to actual needs, or it can be determined by analyzing the shunting boundary area based on big data. The shunt data to be extracted include the shunt flow rate information and the shunt direction information. It can be understood that if the occluder is installed reasonably and has a blocking effect, the blood in the left and right ventricles will not be shunted through the foramen ovale, and the shunt speed will not be generated, nor will it affect the blood flow direction in the ventricle. Therefore, the shunt flow rate and shunt direction need to be comprehensively acquired for subsequent analysis and judgment to ensure the comprehensive and effective implementation of the occluder installation effect.

[0048] S2: Acquire the real-time placement position information of the occluder, and perform real-time occlusion positioning analysis in combination with the occlusion installation location area to form real-time positioning occlusion result information.

[0049] The real-time placement position information of the occluder is obtained, and a real-time occlusion positioning analysis is performed in combination with the occlusion installation position area to form real-time positioning occlusion result information, including: determining the real-time installation position of the occluder corresponding to each time point in the real-time monitoring duration based on the real-time placement position information of the occluder; mapping the real-time monitoring duration and the analysis duration by time points to determine the real-time installation positions of the occluder that are mapped to each other in position and the occluder installation positions in the occluder installation position area; performing real-time occlusion positioning analysis based on position overlap based on all the real-time installation positions of the occluder and the occluder installation positions that are mapped to each other in position to form real-time positioning occlusion result information.

[0050] Whether the occluder is properly installed is the prerequisite for determining whether the occluder has effectively blocked the foramen ovale. Therefore, the evaluation of the occluder's installation effect begins with a determination of the installation position. Only after the installation position is analyzed and compared with the provided reference data to confirm that the installation is reasonable can further evaluation of the diversion effect be performed. The two types of analysis and judgment have a progressive hierarchy, which can further improve the confirmation of the occluder's installation effect and increase the accuracy and rationality of the analysis. Of course, the structural conditions near the foramen ovale will change to a certain extent after the occluder is installed, but this will not cause significant distortion of the reference comparison data. Therefore, after installation, the real-time installation position data of the occluder can be obtained in real time for a real-time monitoring period equivalent to the analysis period, and then matched and mapped with the occluder installation position data obtained during the analysis period to achieve a reasonable installation effect analysis and comparison.

[0051] According to the real-time installation positions of all occluders and the installation positions of the occluders mapped to each other in position, a real-time occlusion positioning analysis based on the position coincidence is performed to form real-time positioning occlusion result information, including: according to the real-time installation positions of all occluders and the installation positions of the occluders mapped to each other in position, a real-time occlusion positioning analysis is performed in the following manner: a point occlusion coincidence threshold and a total coincidence occlusion threshold are set. If the coincidence of each real-time installation position of the occluder mapped to each other and the installation position of the occluder reaches the point occlusion coincidence threshold, and the total coincidence of all positions reaches The total overlap blocking threshold is met, and the blocking installation compliance information is generated; if the overlap of all mutually mapped occluder real-time installation positions and occluder installation positions does not reach the point blocking overlap threshold, the blocking installation non-compliance information is generated, and the occluder real-time installation position that does not reach the point blocking overlap threshold is calibrated; if the overlap of each mutually mapped occluder real-time installation position and occluder installation position reaches the point blocking overlap threshold, but the sum of the overlaps at all positions does not reach the total overlap blocking threshold, the blocking installation non-compliance information is generated.

[0052] The comparative judgment on the rationality of the installation position of the occluder mainly considers two aspects. On the one hand, the corresponding real-time installation position of each occluder and the installation position of the occluder are mapped in the time dimension to judge the degree of overlap. Considering that the installation of the occluder will cause a certain degree of distortion of the model data and the error of the actual installation, the two mapped matching data will not completely overlap. When a certain degree of overlap is reached, it can be judged whether the installation is reasonable. On the other hand, considering that the installation positions between different time points have a dynamic relationship with each other, it is also necessary to judge the degree of overlap in the entire time dimension to avoid the impact of dynamic changes on the installation effect of the occluder. The point block overlap threshold and the total overlap threshold can be set according to the actual situation, or they can be determined by combining big data to analyze the changes in the model before and after installation.

[0053] S3: Based on the real-time positioning and blocking result information, the real-time diversion data of the blocked area is obtained, and the blocking effect is analyzed in combination with the unblocked diversion data to form the blocking effect analysis result information.

[0054] Based on the real-time positioning and blocking result information, the real-time diversion data of the blocking area is obtained, and the blocking effect is analyzed in combination with the unblocked diversion data to form the blocking effect analysis result information, including: when the real-time positioning and blocking result information is the blocking installation standard information, the blocking diversion flow velocity V on the boundary of the patent foramen ovale diversion influence area during the real-time monitoring period is obtained. after [f(x, y, z, t monitor )], conduct plugging effect analysis based on flow velocity to form the plugging flow velocity impact result, where f(x, y, z, t monitor ) represents the model curve function of the boundary of the patent foramen ovale shunt influence area during the real-time monitoring period, t monitor Indicates the real-time monitoring duration; obtains the blocking and shunting direction D on the boundary of the patent foramen ovale shunt influence area during the real-time monitoring duration after [f(x, y, z, t mobitor )], conduct direction-based plugging effect analysis to form the plugging direction influence result; combine the plugging flow velocity influence result and the plugging direction influence result to form the plugging effect analysis result information.

[0055] If the analysis and judgment of the installation position of the occluder shows that the installation is reasonable, the occlusion effect produced by the occluder can be further compared and analyzed. Similarly, the shunt velocity and shunt direction data on the boundary of the shunt influence area of ​​the patent foramen ovale after the installation of the occluder are obtained during the real-time monitoring period, and used as comparative analysis data with the shunt data before occlusion, and comparative analysis data on two aspects of shunt are performed to achieve a reasonable analysis and judgment of the occlusion effect of the occluder. Similarly, the shunt data obtained also corresponds to the shunt data obtained during the analysis period in the time dimension to ensure that the analysis and comparison have reasonable comparability in the time dimension, and to ensure the correctness and rationality of the analysis and comparison.

[0056] Perform plugging effect analysis based on flow rate to form plugging flow rate impact results, including: obtaining unclosed shunt flow rate V before [f(x, y, z, t analysis )], and combined with the plugging and diversion flow rate V after [f(x, y, z, t monitor )], if satisfied

[0057] The information of the blocking flow rate reaching the standard is formed, wherein x0 represents the minimum value of the first direction on the boundary of the shunt area affected by the patent foramen ovale during the real-time monitoring period, x1 represents the maximum value of the first direction on the boundary of the shunt area affected by the patent foramen ovale during the real-time monitoring period, and a represents the analysis threshold of the shunt flow rate blocking effect; if it is not satisfied

[0058] Then the information of plugging velocity not meeting the standard is formed; the plugging effect analysis based on direction is carried out to form the plugging direction impact result, including: obtaining the unclosed diversion direction D before [f(x, y, z, t)], and combined with the blocking diversion direction D after [f9x,y,z,t monitor )], if satisfied

[0059] Among them, b represents the analysis threshold of the blocking effect in the diversion direction, which forms the blocking direction compliance information; if it does not meet the

[0060] This will generate information that the blocking direction does not meet the standards.

[0061] Complete occlusion of the foramen ovale by an occluder is the most effective approach. However, due to the motion of the heart, the occlusion of the foramen ovale will also vary to a certain extent with the dynamic changes of the heart. Therefore, partial shunt will occur under certain dynamic conditions. However, the magnitude of this shunt can be determined by limiting the cumulative magnitude during analysis and judgment, ensuring that the analysis and judgment conditions are adaptable to the actual situation and the judgment is reasonable. Of course, this cumulative magnitude is calculated over the entire boundary area and the entire time dimension, so it is necessary to integrate it over the time dimension and the boundary curve. The threshold for analyzing the occlusion effect can be determined based on the actual situation, or it can be determined by combining big data analysis of the maximum cumulative shunt allowed by the occlusion.

[0062] Combined with the results of the influence of the blocking flow rate and the results of the blocking direction, the blocking effect analysis result information is formed, including: if the blocking flow rate influence result is that the blocking flow rate meets the standard, and the blocking direction influence result is that the blocking direction meets the standard, then the blocking installation is normal information; if the blocking flow rate influence result is that the blocking flow rate does not meet the standard, and the blocking direction influence result is that the blocking direction meets the standard, then the blocking installation is abnormal information; if the blocking flow rate influence result is that the blocking flow rate meets the standard, and the blocking direction influence result is that the blocking direction does not meet the standard, then the blocking installation is abnormal information.

[0063] In the analysis and judgment of the occlusion effect of the occluder, the occluder can only be considered to have achieved the occlusion effect if both the flow rate and the direction of the diversion meet the judgment criteria. If any aspect of the diversion fails to meet the criteria, it is considered that the occluder is installed improperly. The installation position can be adjusted in accordance with the feedback effect to ensure the real-time adjustment of the installation position of the occluder during the operation, thereby improving the installation success rate and work efficiency and avoiding secondary surgery.

[0064] The present application also provides a specific structure of an interventional surgical robot system. The interventional surgical robot system includes an image data acquisition unit for acquiring cardiac image data, a data analysis unit for analyzing and processing the image data acquired by the data acquisition unit to generate occlusion installation position area and unsealed shunt data, as well as real-time placement position information and real-time shunt data, and to perform real-time occlusion positioning analysis to generate real-time positioning occlusion result information and perform occlusion effect analysis to generate occlusion effect analysis result information; and a database unit for storing structural data of different occluders to provide the occluder structural data to the data analysis unit.

[0065] In summary, the beneficial effects of the percutaneous patent foramen ovale closure interventional surgical robot system provided by the embodiments of the present invention are:

[0066] The interventional surgical robot system establishes a corresponding dynamic model by collecting cardiac impact data of the target heart, and can then perform a reasonable fitting analysis on the installation of the occluder, determine the installation position information of the occluder for theoretical installation to complete the occlusion, and provide a reasonable and accurate judgment standard for real-time analysis of the installation status of the occluder. At the same time, after confirming the installation position of the occluder, the corresponding shunt data is obtained in real time to judge the occlusion effect of the occluder. On the one hand, the installation effect can be comprehensively judged from the aspects of the installation structure and the application effect after installation, making the installation analysis of the occluder more comprehensive. On the other hand, since real-time data analysis is performed during the operation, the unreasonable installation of the occluder can be adjusted in time to avoid the trouble of secondary surgery. While improving the efficiency of the overall operation, it can also further increase the success rate of the operation.

[0067] In the embodiment of the present application, "indication" may include direct indication and indirect indication, and may also include explicit indication and implicit indication. The information indicated by a certain information is called information to be indicated. In the specific implementation process, there are many ways to indicate the information to be indicated, such as but not limited to, the information to be indicated can be directly indicated, such as the information to be indicated itself or the index of the information to be indicated. The information to be indicated can also be indirectly indicated by indicating other information, wherein there is an association relationship between the other information and the information to be indicated. It is also possible to indicate only a part of the information to be indicated, while the other parts of the information to be indicated are known or agreed in advance. For example, the indication of specific information can also be achieved by means of the arrangement order of each piece of information agreed in advance (such as specified in the protocol), thereby reducing the indication overhead to a certain extent. At the same time, the common parts of each piece of information can also be identified and indicated uniformly to reduce the indication overhead caused by indicating the same information separately.

[0068] In addition, the specific indication method can also be various existing indication methods, such as but not limited to the above-mentioned indication methods and various combinations thereof. The specific details of the various indication methods can be referred to the prior art and will not be repeated herein. As can be seen from the above, for example, when it is necessary to indicate multiple information of the same type, there may be a situation where the indication methods for different information are different. In the specific implementation process, the required indication method can be selected according to specific needs. The embodiment of the present application does not limit the selected indication method. In this way, the indication method involved in the embodiment of the present application should be understood to cover various methods that can enable the party to be indicated to obtain the information to be indicated.

[0069] It should be understood that the information to be indicated can be sent as a whole or divided into multiple sub-information and sent separately, and the sending period and / or sending time of these sub-information can be the same or different. The specific sending method is not limited in the embodiments of this application. The sending period and / or sending time of these sub-information can be predefined, for example, predefined according to a protocol, or can be configured by the transmitting device by sending configuration information to the receiving device.

[0070] "Pre-definition" or "pre-configuration" can be implemented by pre-saving corresponding codes, tables or other methods that can be used to indicate relevant information in the device, and the embodiments of the present application do not limit the specific implementation method. Among them, "saving" can mean saving in one or more memories. The one or more memories can be set separately or integrated in an encoder or decoder, a processor, or a communication device. The one or more memories can also be partially set separately and partially integrated in a decoder, a processor, or a communication device. The type of memory can be any form of storage medium, and the embodiments of the present application do not limit this.

[0071] The "protocol" involved in the embodiments of the present application may refer to a protocol family in the communication field, a standard protocol with a similar protocol family frame structure, or a related protocol used in future communication systems. The embodiments of the present application do not make specific limitations on this.

[0072] In the embodiments of the present application, descriptions such as "when...", "in the case of...", "if" and "if" all mean that the device will perform corresponding processing under certain objective circumstances. It does not limit the time, nor does it require the device to perform judgment actions when implemented, nor does it mean that there are other limitations.

[0073] In the description of the embodiments of the present application, unless otherwise specified, " / " indicates that the objects associated with each other are in an "or" relationship. For example, A / B can represent A or B. "And / or" in the embodiments of the present application is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. A and B can be singular or plural. In addition, in the description of the embodiments of the present application, unless otherwise specified, "multiple" refers to two or more than two. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple. In addition, in order to facilitate the clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, words such as "first" and "second" are used to distinguish between identical or similar items with basically the same functions and effects. Those skilled in the art will understand that words such as "first" and "second" do not limit the quantity and execution order, and words such as "first" and "second" do not necessarily limit differences. At the same time, in the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or design. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a concrete way for easy understanding.

[0074] It should be understood that the processor in the embodiments of the present application may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0075] It should also be understood that the memory in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0076] The above embodiments can be implemented in whole or in part by software, hardware (such as circuits), firmware or any other combination. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer program are loaded or executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center via a wired (such as infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that contains one or more available media sets. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a tape), an optical medium (for example, a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state drive.

[0077] It should be understood that the term "and / or" as used herein simply describes a relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A alone, A and B together, or B alone. A and B can be singular or plural. Furthermore, the character " / " as used herein generally indicates an "or" relationship between the associated objects, but it may also indicate an "and / or" relationship. For specific understanding, please refer to the context.

[0078] In this application, "at least one" means one or more, and "plurality" means two or more. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or plural.

[0079] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0080] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0081] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0082] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0083] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0084] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0085] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0086] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A percutaneous interventional surgical robot system for patent foramen ovale closure, characterized in that: Configured to: Obtain cardiac imaging data and occluder structure data, perform occlusion positioning and shunt analysis, and determine the occlusion installation location area and unsealed shunt data; Acquire the real-time placement position information of the occluder, and perform real-time occlusion positioning analysis based on the occlusion installation location area to generate real-time positioning occlusion result information; Based on the real-time positioning and blocking result information, real-time diversion data of the blocked area is obtained, and the blocking effect analysis is performed in combination with the unblocked diversion data to form blocking effect analysis result information.

2. The interventional surgical robot system for percutaneous patent foramen ovale closure according to claim 1, characterized in that: The acquisition of cardiac imaging data and occluder structure data, performing occlusion positioning and shunt analysis, and determining the occlusion installation location area and unsealed shunt data includes: Calibrate the foramen ovale according to the cardiac image data to determine the location area information of the foramen ovale; Performing installation positioning analysis based on the cardiac imaging data, combined with the foramen ovale location area information and the occlusion structure data, to determine the occlusion installation location area; A shunt characteristic analysis based on a time parameter is performed according to the cardiac image data to form the unsealed shunt data.

3. The interventional surgical robot system for percutaneous patent foramen ovale closure according to claim 2, characterized in that: The step of calibrating the foramen ovale according to the cardiac image data to determine the foramen ovale position area information includes: establishing a cardiac dynamic model of the target heart within an analysis time period according to the cardiac impact data; Determining the position change information of the center of the foramen ovale according to the cardiac dynamic model; The foramen ovale position information is extracted according to the circle center position change information in the following manner: arbitrarily extracting m center points at intervals from the center position change information; Determining the range of the foramen ovale corresponding to each center point according to the cardiac dynamic model; Obtaining the range of the foramen ovale with the largest diameter corresponding to the m center points, and marking it as the effective foramen ovale diameter; The foramen ovale position area information is determined according to the effective foramen ovale diameter and the circle center position change information.

4. The interventional surgical robot system for percutaneous patent foramen ovale closure according to claim 3, characterized in that: The performing installation positioning analysis based on the cardiac imaging data, in combination with the foramen ovale location area information and the occlusion structure data, to determine the occlusion installation location area includes: Determining a corresponding occluder according to the effective foramen ovale diameter, and acquiring the occluding structure data of the occluder; Calibrate the hole-center overlap area according to the occluder structure data; Combined with the occluder structure data, the foramen ovale location area information, and the circle center position change information, the following installation position analysis is performed: According to the circle center position change information, the position of each circle center point is limited to ensure that the circle center point is located in the hole center coincidence area of ​​the occluder; Adjusting the position of the circle center point located in the hole center overlap area so that the occluder can achieve complete contact with the edge of the foramen ovale within the entire range of the foramen ovale change area, thereby forming the occluder installation position corresponding to the circle center point; The occluder installation positions corresponding to all the circle center points in the circle center position change information are extracted to form the occluder installation position area.

5. The interventional surgical robot system for percutaneous patent foramen ovale closure according to claim 4, characterized in that: The step of performing a shunt characteristic analysis based on a time parameter according to the cardiac imaging data to generate the unsealed shunt data includes: Calibrate the patent foramen ovale shunt influence area according to the cardiac dynamic model; According to the heart impact data, the patent shunt velocity V on the boundary of the patent foramen ovale shunt impact area within the analysis time is extracted. before [f(x, y, z, t analysis )], where f(x, y, z, t analysis ) represents the model curve function of the boundary of the patent foramen ovale shunt influence area within the analysis time, t analysis Indicates the duration of the analysis; According to the heart impact data, the patent shunt direction D on the boundary of the patent foramen ovale shunt impact area within the analysis time is extracted. before [f(x, y, z, t)]; Combined with the patent shunt flow rate V before [f(x, y, z, t)] and the unclosed shunt direction D before [f(x, y, z, t)] forms the unclosed diversion data.

6. The interventional surgical robot system for percutaneous patent foramen ovale closure according to claim 5, characterized in that: The real-time placement position information of the occluder is obtained, and real-time occlusion positioning analysis is performed in combination with the occlusion installation position area to form real-time positioning occlusion result information, including: Determining the real-time installation position of the occluder corresponding to each time point during the real-time monitoring period according to the real-time placement position information of the occluder; Mapping the real-time monitoring duration and the analysis duration at time points to determine the real-time installation position of the occluder and the installation position of the occluder in the occluder installation position area that are mapped to each other; According to all the real-time installation positions of the occluder and the installation position of the occluder that are mapped to each other in position, a real-time occlusion positioning analysis based on position coincidence is performed to form the real-time positioning occlusion result information.

7. The interventional surgical robot system for percutaneous patent foramen ovale closure according to claim 6, characterized in that: The real-time occlusion positioning analysis based on positional overlap is performed based on all the real-time installation positions of the occluder and the installation position of the occluder that are mapped to each other in position, to form the real-time positioning and occlusion result information, including: Based on all the real-time installation positions of the occluder and the installation position of the occluder that are mapped to each other in position, a real-time occlusion positioning analysis is performed in the following manner: Setting a point blocking coincidence threshold and a total coincidence blocking threshold. If the coincidence between the real-time installation position of the occluder and the installation position of the occluder that are mapped to each other reaches the point blocking coincidence threshold, and the sum of the coincidences at all positions reaches the total coincidence blocking threshold, then generating information that the occlusion installation has reached the standard. If the overlap between the real-time installation position of the occluder and the installation position of the occluder that is mapped to each other does not reach the point-position occlusion overlap threshold, information indicating that the occlusion installation does not meet the threshold is generated, and the real-time installation position of the occluder that does not reach the point-position occlusion overlap threshold is calibrated; If the overlap between the real-time installation position of the occluder and the installation position of the occluder that are mapped to each other reaches the point-position occlusion overlap threshold, but the sum of the overlaps at all positions does not reach the total overlap occlusion threshold, information indicating that the occlusion installation does not meet the standards is generated.

8. The interventional surgical robot system for percutaneous patent foramen ovale closure according to claim 7, characterized in that: The real-time positioning and blocking result information is used to obtain real-time diversion data of the blocked area, and the blocking effect analysis is performed in combination with the unblocked diversion data to form blocking effect analysis result information, including: When the real-time positioning and blocking result information is the blocking installation standard information, the blocking shunt flow velocity V on the boundary of the patent foramen ovale shunt influence area during the real-time monitoring time is obtained. after [f(x, y, z, t monitor )], conduct plugging effect analysis based on flow velocity to form the plugging flow velocity impact result, where f(x, y, z, t monitor ) represents the model curve function of the boundary of the patent foramen ovale shunt influence area during the real-time monitoring time, t monitor Indicates the real-time monitoring duration; Obtain the blocking shunt direction D on the boundary of the patent foramen ovale shunt influence area during the real-time monitoring period after [f(x, y, z, t monitor )], conduct direction-based plugging effect analysis to form the plugging direction impact results; The blocking flow velocity influence result and the blocking direction influence result are combined to form the blocking effect analysis result information.

9. The interventional surgical robot system for percutaneous patent foramen ovale closure according to claim 8, characterized in that: The plugging effect analysis based on flow velocity to form the plugging flow velocity impact result includes: Get the unclosed shunt flow velocity V before [f(x, y, z, t analysis )], and combined with the plugging and diversion flow rate V after [f(x, y, z, t monitor )], if satisfied The information on the compliance of the plugging flow rate is then formed, wherein x0 represents the minimum value of the first direction on the boundary of the patent foramen ovale shunt influence area during the real-time monitoring period, x1 represents the maximum value of the first direction on the boundary of the patent foramen ovale shunt influence area during the real-time monitoring period, and a represents the shunt flow rate plugging effect analysis threshold; If not satisfied Then the information of blocking flow rate not meeting the standard is generated; The direction-based plugging effect analysis to form the plugging direction impact result includes: Obtain the unclosed shunt direction D before [f(x, y, z, t)], and combined with the blocking diversion direction D after [f(x, y, z, t monitor )], if satisfied Among them, b represents the analysis threshold of the plugging effect in the diversion direction, which forms the plugging direction compliance information; If not satisfied This will generate information that the blocking direction does not meet the standards.

10. The interventional surgical robot system for percutaneous patent foramen ovale closure according to claim 9, characterized in that: The combination of the blocking flow velocity impact result and the blocking direction impact result to form the blocking effect analysis result information includes: If the blocking flow rate impact result is information that the blocking flow rate meets the standard, and the blocking direction impact result is information that the blocking direction meets the standard, then normal blocking installation information is generated; If the blocking flow rate impact result is information that the blocking flow rate does not meet the standard, and the blocking direction impact result is information that the blocking direction meets the standard, then abnormal blocking installation information is generated; If the blocking flow rate impact result is information that the blocking flow rate meets the standard, and the blocking direction impact result is information that the blocking direction does not meet the standard, then abnormal blocking installation information is generated.

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