Catheter control method, system, computer device, storage medium and program product

Abstract

The present application relates to a catheter control method, system, computer device, storage medium and computer program product. The method comprises: obtaining an influence factor of a catheter on a natural cavity when the catheter moves in the natural cavity; detecting the relationship between the influence factor and a preset threshold condition; when the influence factor does not meet the threshold condition, outputting control information for adjusting the operation of the catheter based on the influence factor. The use of this method can reduce the damage of the catheter to the natural cavity.

Description

Technical Field

[0001] The present application relates to the field of medical device control technology, and in particular to a catheter control method, system, computer equipment, storage medium and computer program product. Background Art

[0002] With the development of computer technology and medical imaging technology, natural cavity surgical robots based on navigation systems have been increasingly widely used. During use, the user needs to operate the catheter to move and bend in the natural cavity to reach the vicinity of the surgical target point.

[0003] However, the catheter tip is usually made of a material with a certain hardness, and when the catheter is bent, it also has a certain hardness. Therefore, during surgery, when the catheter is operated in the natural cavity, the catheter tip and the catheter may cause unnecessary damage to the natural cavity. Summary of the invention

[0004] Based on this, it is necessary to provide a catheter control method, system, computer device, computer readable storage medium and computer program product that can reduce the damage of the catheter to the natural cavity in response to the above technical problems.

[0005] In a first aspect, the present application provides a catheter control method, the method comprising:

[0006] Acquiring an influence factor of the catheter on the natural cavity when the catheter moves in the natural cavity;

[0007] Detecting the relationship between the influencing factor and a preset threshold condition;

[0008] When the impact factor does not satisfy the threshold condition, control information for adjusting the catheter operation is output based on the impact factor.

[0009] In one embodiment, the acquisition of the influencing factors of the natural cavity when the catheter moves in the natural cavity includes:

[0010] Obtaining influencing factors of different influencing types on the natural cavity when the catheter moves in the natural cavity;

[0011] The detecting the relationship between the influencing factor and a preset threshold condition includes:

[0012] Determine whether the impact factor meets the threshold condition of the corresponding impact type;

[0013] When the influencing factor does not satisfy the threshold condition, outputting control information for adjusting the catheter operation based on the influencing factor comprises:

[0014] When at least one of the impact factors of the impact type does not satisfy the threshold condition of the corresponding impact type, control information for adjusting the catheter operation is output based on the impact factor.

[0015] In one embodiment, detecting the relationship between the influencing factor and a preset threshold condition includes:

[0016] Determining whether the influencing factor satisfies a threshold condition corresponding to the catheter position;

[0017] When the influencing factor does not satisfy the threshold condition, outputting control information for adjusting the catheter operation based on the influencing factor comprises:

[0018] When the influence factor of at least one catheter site does not satisfy the threshold condition of the corresponding catheter site, control information for adjusting the catheter operation is output based on the influence factor.

[0019] In one embodiment, the factors affecting the natural cavity when the acquisition catheter moves in the natural cavity include at least one of the following:

[0020] Acquire the force of the catheter on the natural cavity collected by a force sensor on the catheter, and use the force of the catheter on the natural cavity as an influence factor on the natural cavity when the catheter moves in the natural cavity; or

[0021] Acquire the distance between the catheter and the natural cavity captured by an image sensor on the catheter, and use the distance between the catheter and the natural cavity as an influence factor on the natural cavity when the catheter moves in the natural cavity; or

[0022] The catheter position collected by the position sensor on the catheter is obtained, and the catheter position is mapped to the target medical image to obtain the target position, and the distance between the target position and the natural cavity in the target medical image is used as the influencing factor of the natural cavity when the catheter moves in the natural cavity.

[0023] In one embodiment, outputting control information for adjusting the operation of the catheter based on the influencing factor comprises:

[0024] generating a control instruction for the catheter based on the influencing factor, and outputting the control instruction; or

[0025] Guidance operation information of the catheter is generated based on the influencing factor, and the guidance operation information is output.

[0026] In one embodiment, generating a control instruction for the catheter based on the influencing factor includes:

[0027] receiving an operator's operating instruction for the catheter, and determining whether the operating instruction will result in increasing or maintaining the impact factor;

[0028] When the operation instruction will produce a result of increasing or maintaining the influence factor, a control instruction that does not respond to the operation instruction is generated, otherwise a control instruction based on the operation instruction is generated to control the movement of the catheter.

[0029] In one embodiment, generating a control instruction for the catheter based on the influencing factor includes:

[0030] Acquiring an operation plan or a current movement direction, and determining a movement range of the catheter based on the operation plan or the current movement direction;

[0031] Determining, according to the influencing factor and the movement range of the catheter, a first catheter operation for increasing or maintaining the influencing factor, or a second catheter operation for reducing the influencing factor;

[0032] At least one of generating a control instruction for filtering the first catheter operation, generating a disabling control instruction corresponding to the first catheter operation, and generating an automatic control instruction for the catheter based on the second catheter operation is executed.

[0033] In one embodiment, generating the guided operation information of the catheter based on the influencing factor includes:

[0034] Acquiring an operation plan or a current movement direction, and determining a movement range of the catheter based on the operation plan or the current movement direction;

[0035] Determining, according to the influencing factor and the movement range of the catheter, a first catheter operation for increasing or maintaining the influencing factor, or a second catheter operation for reducing the influencing factor;

[0036] The guidance operation information of the prohibited operation range is generated according to the first catheter operation, or the guidance operation information of the permitted operation range is generated based on the second catheter operation.

[0037] In a second aspect, the present application further provides a catheter control system, the system comprising:

[0038] Catheters, used for movement in natural cavities;

[0039] An influencing factor collection device, used for collecting influencing factors of the catheter on the natural cavity when the catheter moves in the natural cavity;

[0040] a catheter control device for operating the movement of the catheter in the natural cavity;

[0041] A processor is used to execute the control information obtained by the catheter control method in any one of the above embodiments according to the influencing factor.

[0042] In one embodiment, the impact factor collection device includes at least one of the following:

[0043] a force sensor, used to obtain the force of the catheter on the natural cavity, and send the force of the catheter on the natural cavity to a processor; or

[0044] an image sensor, used to obtain the distance between the catheter and the natural cavity, and send the distance between the catheter and the natural cavity to a processor; or

[0045] The position sensor is used to collect the position of the catheter and send the collected position of the catheter to the processor.

[0046] In a third aspect, the present application further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method in any one of the above embodiments when executing the computer program.

[0047] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the method in any one of the above embodiments are implemented.

[0048] In a fifth aspect, the present application also provides a computer program product, including a computer program, which implements the steps of the method in any one of the above embodiments when executed by a processor.

[0049] The above-mentioned catheter control method, system, computer device, storage medium and computer program product obtain the influence factor of the catheter on the natural cavity when the catheter moves in the natural cavity, and determine whether the catheter causes damage to the natural cavity by detecting the relationship between the influence factor and the preset threshold condition. When the influence factor does not meet the threshold condition, control information for adjusting the catheter operation is output based on the influence factor to reduce the damage to the natural cavity. Therefore, this method can reduce the damage of the catheter to the natural cavity and avoid unnecessary damage. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 is a schematic structural diagram of a catheter control system in one embodiment;

[0051] Figure 2 is a schematic structural diagram of a surgical system in one embodiment;

[0052] Figure 3 is a schematic flow chart of a catheter control method in one embodiment;

[0053] Figure 4 A schematic diagram of a system when the impact type is force in one embodiment;

[0054] Figure 5 A schematic diagram of a system when the impact type is distance in one embodiment;

[0055] Figure 6 is a schematic diagram of a system when the impact type is distance in another embodiment;

[0056] Figure 7 is a flow chart of a catheter control method when the impact type is distance in one embodiment;

[0057] Figure 8 is a flow chart of a catheter control method in another embodiment;

[0058] Fig. 9 is a schematic diagram of the movement mode of a catheter in one embodiment;

[0059] Fig.10 A schematic diagram of a catheter damaging a natural cavity in an embodiment;

[0060] Fig.11 is a schematic diagram of performing automatic operation according to an operation plan in one embodiment;

[0061] Fig.12 is a schematic diagram of automatic operation according to the current direction of movement in one embodiment;

[0062] Fig.13 A schematic diagram of a flow chart of a catheter control method in yet another embodiment;

[0063] Fig.14 is a structural block diagram of a catheter control system device in one embodiment;

[0064] Fig.15 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0065] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0066] The catheter control method provided in the embodiment of the present application can be applied to Figure 1In the catheter control system shown. The catheter control system includes a catheter 101, a catheter control device 102, an influencing factor acquisition device 103 and a processor 104. The catheter 101 may include any medical catheter 101, such as a medical catheter 101 for providing a surgical instrument channel, etc., which is not specifically limited here. The catheter control device 102 is used to operate the movement of the catheter 101, and the catheter control device 102 includes but is not limited to a handle, a mouse and a keyboard. The influencing factor acquisition device 103 is used to obtain relevant data of the influencing factors that may cause harm in real time, and transmit it to the processor 104 for processing. The influencing factor acquisition device 103 includes but is not limited to a force sensor, an image sensor and a position sensor, etc., wherein the image sensor can be a depth camera. The force sensor is used to obtain the force of the catheter 101 on the natural cavity, and send the force of the catheter 101 on the natural cavity to the processor 104; the image sensor is used to obtain the distance between the catheter 101 and the natural cavity, and send the distance between the catheter 101 and the natural cavity to the processor 104; the position sensor is used to collect the catheter position, and send the collected catheter position to the processor 104. The processor 104 can implement at least one of the following functions: calculate the threshold value corresponding to the type of influence that may cause harm before the operation, process the instruction of the catheter control device 102 to control the catheter 101, send instructions to the catheter control device 102, calculate the relevant influence factors that may cause harm, calculate the relationship between the influence factors and the threshold value, calculate the guidance method, etc.

[0067] In practical applications, the catheter control device 102 is used to operate the movement of the catheter 101 in the natural cavity, so that the influence factor collection device 103 can collect the influence factor of the catheter 101 on the natural cavity when it moves in the natural cavity, and then send the collected influence factor to the processor 104. The processor 104 detects the relationship between the influence factor and the preset threshold condition. When the influence factor does not meet the threshold condition, the control information for adjusting the catheter operation is output based on the influence factor. The control information for adjusting the catheter operation based on the influence factor output may include at least two types: one is guidance information, that is, the processor 104 generates guidance information of the catheter 101 based on the influence factor, so that the operator can control the movement of the catheter 101 by viewing the guidance information to reduce the influence factor. The other is automatic control, that is, the processor 104 generates automatic control information of the catheter 101 based on the influence factor. The automatic control information may include control information of the catheter 101 control instruction sent by the catheter control device 102, such as control information for determining whether to execute the catheter 101 control instruction. The automatic control information may also include a catheter control instruction generated based on the first catheter operation of filtering to increase or maintain the influence factor, a disabling control instruction corresponding to the first catheter operation of increasing or maintaining the influence factor, and a catheter control instruction generated based on the second catheter operation of reducing the influence factor. In other embodiments, when the processor 104 determines that the influence factor does not meet the threshold condition, it first outputs an alarm message to remind the operator. In one embodiment, the catheter control system also includes a display 105 for displaying alarm information and / or control information for adjusting the catheter operation.

[0068] Combination Figure 2 As shown, the present application also provides a surgical system, the surgical system comprising Figure 1 The catheter control system shown in .

[0069] In one embodiment, Figure 3 As shown, a catheter control method is provided, which is applied to Figure 1 The processor in the example is used to illustrate, including the following steps:

[0070] S302: Obtaining the influencing factors of the catheter on the natural cavity when the catheter moves in the natural cavity.

[0071] Specifically, the catheter can move in the natural cavity based on navigation. For example, the user operates the catheter to move and bend in the natural cavity to achieve the purpose of reaching the vicinity of the surgical target point. However, the head end of the catheter is usually made of a material with a certain hardness, and when the catheter is bent, it also has a certain hardness. Therefore, during surgery, when operating the catheter in the natural cavity, the catheter head end and the catheter may cause unnecessary damage to the natural cavity. If the user misoperates, it may cause greater damage. For this reason, the impact factor is used to characterize the impact of the catheter on the natural cavity when it moves in the natural cavity.

[0072] In one embodiment, the influencing factors may include multiple types, such as the distance between the catheter and the natural cavity, the force of the catheter on the natural cavity, etc., which are not specifically limited here.

[0073] In one embodiment, the processor can obtain influencing factors of multiple influencing types, wherein for convenience, the user can set the collection method of influencing factors of different influencing types as needed before the operation. In one embodiment, obtaining the influencing factors of the catheter on the natural cavity when it moves in the natural cavity includes at least one of the following: obtaining the force of the catheter on the natural cavity collected by the force sensor on the catheter, and using the force of the catheter on the natural cavity as the influencing factor of the catheter on the natural cavity when the catheter moves in the natural cavity; or obtaining the distance between the catheter and the natural cavity collected by the image sensor on the catheter, and using the distance between the catheter and the natural cavity as the influencing factor of the catheter on the natural cavity when the catheter moves in the natural cavity; or obtaining the catheter position collected by the position sensor on the catheter, and mapping the catheter position to the target medical image to obtain the target position, and using the distance between the target position and the natural cavity in the target medical image as the influencing factor of the catheter on the natural cavity when the catheter moves in the natural cavity.

[0074] Specifically, combined Figure 4 As shown, when the impact type is the magnitude of the force of the catheter on the natural cavity, multiple force sensors can be added to the catheter, so that the force of the catheter head or the catheter body on the natural cavity can be obtained in real time through the force sensors on the catheter. Each force sensor is connected to the processor, so that the processor can obtain the impact factor collected by the force sensor in real time. The processor can also store the position information of each force sensor, such as whether it is installed on the catheter head or the catheter body. When the impact factor collected by the force sensor is received, the catheter part corresponding to the impact factor can also be determined, laying the foundation for the accuracy of the subsequent threshold comparison.

[0075] Specifically, combined Figure 5As shown, when the impact type is the distance between the catheter and the natural cavity, an image sensor, such as a depth camera, can be added to the tip of the catheter, so that the distance between the tip of the catheter and the natural cavity can be acquired in real time through the image sensor. If the above distance is less than or equal to 0, that is, the threshold condition that the distance is greater than 0 is not met, the tip of the catheter may cause damage to the natural cavity.

[0076] Specifically, combined Figure 6 As shown, when the impact type is the distance between the catheter and the natural cavity, the catheter position can be collected by a distance sensor, and the collected catheter position is mapped to the target medical image to obtain the target position. Figure 7 , before the operation, the target medical image is collected, and then a mapping relationship between the natural cavity world coordinate system and the medical image coordinate system of the target medical image is established. According to the mapping relationship, the catheter position collected by the distance sensor can be mapped to the target medical image. For internal organs such as natural cavities, most of them are based on magnetic navigation and positioning systems to complete the alignment (that is, to establish the above mapping relationship, where the world coordinate system is the magnetic navigation coordinate system). Before the operation, the target medical image is obtained, and the corresponding natural cavity during the operation is extracted. During the operation, the catheter equipped with a position sensor is operated to move in the natural cavity to obtain the characteristics of the natural cavity, and the characteristics of the natural cavity obtained during the operation are mapped with the characteristics of the natural cavity in the preoperative target medical image, so as to obtain the above mapping relationship. It should be noted that the method of obtaining the mapping relationship is not limited to the above-mentioned magnetic navigation and positioning system, but also includes methods such as collecting natural cavity structure characteristics based on endoscopes, depth cameras, real-time CT, etc., which are not specifically limited here. In practical applications, multiple position sensors can be installed separately, for example, dispersed at the tip and body of the catheter, and the position of the tip in the world coordinate system and the position of the catheter body in the actual coordinate system can be obtained through the position sensors (the catheter body can be represented by a series of point sets), so that the above point sets are mapped to the target medical image, and the distance from the point in the point set to the natural cavity is calculated. Optionally, the processor can obtain the mathematical statistical value of the distance corresponding to each point in the point set to represent the final influencing factor, such as the minimum value, etc., which is not specifically limited here.

[0077] S304: Detect the relationship between the impact factor and the preset threshold condition.

[0078] Specifically, the threshold conditions are pre-set by the user according to the type of natural cavity and the type and characteristics of the influencing factors. For example, in different natural cavities, the threshold conditions corresponding to different parts of the catheter are different. When obtaining the influencing factor, the processor also determines the part of the catheter corresponding to the influencing factor. In this way, the processor first determines the type of natural cavity according to the surgical scenario, and then obtains the threshold conditions of the catheter part corresponding to the type of natural cavity, and detects the relationship between the influencing factor and the pre-set threshold conditions.

[0079] Among them, when the impact type is the size of the force of the catheter on the natural cavity, before the operation, through multiple simulation experiments or animal experiments, the threshold of the force that the catheter body causes to the natural cavity, and / or the threshold of the force that the catheter head causes to the natural cavity is obtained, and the threshold condition is generated according to the threshold. For example, the threshold condition is less than the threshold. In this way, after obtaining the influencing factor, the corresponding force threshold condition is determined according to the different parts of the catheter, that is, the position of the force sensor, and the relationship between the influencing factor and the pre-set threshold condition is detected.

[0080] When the impact type is the distance between the catheter and the natural cavity, the threshold condition can be directly obtained, for example, the threshold condition is that the distance is greater than a certain value, such as 0.

[0081] S306: When the influence factor does not satisfy the threshold condition, output control information for adjusting the catheter operation based on the influence factor.

[0082] Specifically, the control information output for adjusting the catheter operation based on the influencing factor may include at least two types: one is guidance information, that is, the processor generates guidance information of the catheter based on the influencing factor, so that the operator can control the movement of the catheter by viewing the guidance information to reduce the influencing factor. The other is automatic control, that is, the processor generates automatic control information of the catheter based on the influencing factor. The automatic control information may include control information of the catheter control instruction sent by the catheter control device, such as control information for determining whether to execute the catheter control instruction. The automatic control information may also include a control instruction for filtering the first catheter operation that increases or maintains the influencing factor, a disabling control instruction corresponding to the first catheter operation that increases or maintains the influencing factor, and an automatic control instruction for the catheter generated based on the second catheter operation that reduces the influencing factor.

[0083] In other embodiments, when the processor determines that the impact factor does not meet the threshold condition, it first outputs an alarm message to remind the operator.

[0084] The above-mentioned catheter control method obtains the influence factor of the catheter on the natural cavity when the catheter moves in the natural cavity, and determines whether the catheter causes damage to the natural cavity by judging the size of the influence factor and the threshold. When the influence factor is greater than or equal to the threshold, control information for adjusting the catheter operation is output based on the influence factor to reduce the damage to the natural cavity. Therefore, this method can reduce the damage of the catheter to the natural cavity and avoid unnecessary damage.

[0085] In one embodiment, obtaining the influence factor of the catheter on the natural cavity when the catheter moves in the natural cavity includes: obtaining the influence factors of different influence types on the natural cavity when the catheter moves in the natural cavity; detecting the relationship between the influence factor and the preset threshold condition, including: judging whether the influence factor meets the threshold condition of the corresponding influence type. Accordingly, when the influence factor does not meet the threshold condition, outputting control information for adjusting the operation of the catheter based on the influence factor includes: when the influence factor of at least one influence type does not meet the threshold condition of the corresponding influence type, outputting control information for adjusting the operation of the catheter based on the influence factor.

[0086] Specifically, the impact type may include force and / or distance, so the threshold condition may include a threshold condition corresponding to force and / or a threshold condition corresponding to distance. When the impact type is force, the threshold condition is less than the maximum force, and when the impact type is distance, the threshold condition is greater than the minimum distance, for example, the distance is greater than 0.

[0087] In practical applications, the processor can obtain an influence factor of at least one influence type, so that when there is an influence factor of the influence type that does not meet the threshold condition of the corresponding influence type, the processor outputs control information for adjusting the catheter operation according to the influence factor that does not meet the threshold condition of the corresponding influence type.

[0088] In one of the embodiments, detecting the relationship between the influencing factor and the preset threshold condition includes: determining whether the influencing factor satisfies the threshold condition of the corresponding catheter part; when the influencing factor does not satisfy the threshold condition, outputting control information for adjusting the catheter operation based on the influencing factor, including: when the influencing factor of at least one catheter part does not satisfy the threshold condition of the corresponding catheter part, outputting control information for adjusting the catheter operation based on the influencing factor.

[0089] Specifically, the threshold conditions corresponding to different natural cavities and different catheter sites are different. Therefore, the processor determines whether the influencing factor meets the threshold condition of the corresponding catheter site of the corresponding natural cavity. If the influencing factor of at least one catheter site does not meet the threshold condition of the corresponding catheter site, control information for adjusting the catheter operation is output based on the influencing factor.

[0090] For the sake of ease of understanding, the natural cavity is divided into oral cavity, anus, urethra, and vagina, the catheter site is divided into the catheter head and the catheter body, and the impact type is divided into force and distance as an example for explanation. Before the operation, the user sets the threshold conditions of different types of natural cavities respectively. The threshold conditions of different catheter sites in different types of natural cavities are also different, and the threshold conditions of different impact types of different catheter sites are also different. Therefore, under a natural cavity type, a catheter site, and an impact type correspond to a unique threshold condition, and the processor can store these threshold conditions before the operation. During the operation, the processor determines the type of natural cavity according to the surgical scene, and loads the threshold condition set corresponding to the natural cavity type into the memory, and then obtains the impact type of the collected impact factor, and determines the catheter site according to the impact factor acquisition device, so as to determine the corresponding threshold condition from the threshold condition set. The processor determines whether the impact factor meets the corresponding threshold condition. If not, it generates control information for adjusting the catheter operation according to the impact factor that does not meet the threshold condition.

[0091] In the above embodiments, the threshold conditions are determined according to different surgical scenarios, different catheter locations and / or different impact types, and then judgment is performed, which can improve the accuracy of the impact factor judgment and thus enable precise control of the catheter.

[0092] In one embodiment, outputting control information for adjusting the operation of the catheter based on the influencing factors includes: generating a control instruction for the catheter based on the influencing factors and outputting the control instruction; or generating guiding operation information for the catheter based on the influencing factors and outputting the guiding operation information.

[0093] Specifically, after calculating the relationship between the impact factor and the threshold condition, it is also necessary to prevent the user from continuing to operate the catheter in the direction of increasing the impact factor to prevent the catheter from causing damage to the natural cavity. Optionally, the processor outputs an alarm message to first remind the user, such as displaying the alarm message on a display, outputting the alarm message through a buzzer, or broadcasting the alarm message through a voice device.

[0094] In one embodiment, in combination Figure 8, the control information for adjusting the operation of the catheter may include guidance information and / or automatic control information. The guidance information is that the processor generates guidance information of the catheter based on the influencing factor, so that the operator can control the movement of the catheter by viewing the guidance information and reduce the influencing factor. Automatic control is that the processor generates automatic control information of the catheter based on the influencing factor. The automatic control information may include control information of the catheter control instruction sent by the catheter control device, such as control information for determining whether to execute the catheter control instruction. The automatic control information may also include control instructions for filtering the first catheter operation that increases or maintains the influencing factor, disabling control instructions corresponding to the first catheter operation that increases or maintains the influencing factor, and generating automatic control instructions for the catheter based on the second catheter operation that reduces the influencing factor. The increase and maintenance here can be understood as increasing or maintaining the damage. For example, when the impact type is force, the magnitude of the force is increased or maintained, and if the impact type is distance, the distance is reduced.

[0095] Among them, for automatic control information, that is, generating control instructions for the catheter based on the influence factor, there are two ideas. One is a trial operation, that is, after the catheter control device receives the user's control instruction for the catheter, it first sends it to the processor, and the processor simulates the user's control instruction for the catheter to determine whether the user's control instruction for the catheter will produce a result of increasing or maintaining the influence factor. If so, the instruction is withdrawn, otherwise the instruction is sent to the catheter to control the movement of the catheter. The other is pre-calculation, that is, the processor pre-calculates the second catheter operation that avoids damage to the natural cavity according to the operation plan or the current movement direction, or pre-calculates the first catheter operation that can increase or maintain the influence factor on the natural cavity. In this way, according to different methods of preventing the user from continuing to damage the natural cavity, the processor sends different instructions to the catheter control device to control the catheter operation.

[0096] In order to reduce the damage of the catheter to the natural cavity, it can be handled in a variety of ways: the first is that the processor is connected to the display, and the processor sends an alarm message and guidance information to avoid damage to the display. The second is that the processor is connected to the catheter control device, the catheter control device is connected to the catheter, and the processor sends a control instruction to avoid damage to the catheter control device. The third is that the processor is connected to the catheter control device, the catheter control device is connected to the catheter, and the catheter control device applies the operation instruction to avoid damage to the catheter.

[0097] In one embodiment, generating a control instruction for a catheter based on an influence factor includes: receiving an operation instruction for the catheter from an operator, and determining whether the operation instruction will result in increasing or maintaining the influence factor; when the operation instruction will result in increasing or maintaining the influence factor, generating a control instruction that does not respond to the operation instruction, otherwise generating a control instruction that controls the movement of the catheter based on the operation instruction.

[0098] Specifically, in this embodiment, after the catheter control device receives the operator's operating instructions for the catheter, it first sends the operator's operating instructions for the catheter to the processor, and the processor determines whether the operating instructions will result in increasing or maintaining the impact factor. If so, a control instruction that does not respond to the operating instruction is generated; otherwise, a control instruction that controls the movement of the catheter based on the operating instruction is generated.

[0099] In one embodiment, generating a control instruction for a catheter based on an influencing factor includes: acquiring an operation plan or a current movement direction, and determining a movement range of the catheter based on the operation plan or the current movement direction; determining, according to the influencing factor and the movement range of the catheter, a first catheter operation for increasing or maintaining the influencing factor, or a second catheter operation for reducing the influencing factor; and executing at least one of generating a control instruction for filtering a first catheter operation, generating a disabling control instruction corresponding to the first catheter operation, and generating an automatic control instruction for the catheter based on the second catheter operation.

[0100] In one embodiment, generating guided operation information of a catheter based on an influencing factor includes: acquiring an operation plan or a current movement direction, and determining a movement range of the catheter based on the operation plan or the current movement direction; determining a first catheter operation to increase or maintain the influencing factor, or a second catheter operation to reduce the influencing factor, based on the influencing factor and the movement range of the catheter; generating guided operation information of a prohibited operation range based on the first catheter operation, or generating guided operation information of an allowed operation range based on the second catheter operation.

[0101] Specifically, combined Fig. 9 As shown, the movement of the catheter is divided into three dimensions, the first dimension is forward or backward, the second dimension is bending in a certain direction, and the third dimension is the bending amplitude. The catheter movement in the above three dimensions may cause damage to the natural cavity. Therefore, the processor can pre-calculate the second catheter operation that avoids causing damage to the natural cavity in combination with the operation plan or the current movement direction, or pre-calculate the first catheter operation that can increase or maintain the influence factor on the natural cavity, so as to facilitate the subsequent generation of catheter control instructions based on the influence factor and output the control instruction; or generate the catheter guidance operation information based on the influence factor and output the guidance operation information.

[0102] Specifically, combined Fig.10 As shown, if the catheter is in the natural cavity Fig.10 If the relative position of the catheter is determined, continuing to increase the bending angle 1 along this direction may cause damage to the natural cavity. Therefore, the processor obtains the current bending angle and generates a first catheter operation that causes damage, including increasing the bending angle and adjusting the bending angle toward a certain surrounding area 2, continuing to move forward in this direction, etc. In addition to the above operations, the others can be used as safety operations to guide the user, that is, the second catheter operation.

[0103] Prevent the user from continuing to operate in a direction that harms the natural cavity; the processor can send three commands to the catheter control device: filter the first catheter operation that will increase or maintain the impact factor (i.e., cause damage); or disable the first catheter operation that increases or maintains the impact factor (i.e., causes damage), and generate automatic control instructions for the catheter based on the second catheter operation that reduces the impact factor.

[0104] To this end, combined Fig.11 , if there is an operation plan, such as Fig.11 If the surgical path 5 in the embodiment is not satisfied, and the influencing factor does not meet the threshold condition, a guiding operation is displayed on the display, and the guiding operation can be a guiding operation information of a prohibited operation range generated according to the first catheter operation, or a guiding operation information of a permitted operation range generated based on the second catheter operation, to guide the user to continue to move toward the surgical path from the current position. Alternatively, at least one of a disabling control instruction corresponding to the first catheter operation and an automatic control instruction of the catheter generated based on the second catheter operation is directly generated, and the automatic control instruction is sent to the catheter control device to control the movement of the catheter.

[0105] Combination Fig.12 As shown, if there is no operation plan, the current movement direction 5 is obtained, and an alarm message is displayed on the display. In addition, a guiding operation is displayed on the display, and the guiding operation can be to generate guiding operation information of a prohibited operation range based on the first catheter operation, or to generate guiding operation information of an allowed operation range based on the second catheter operation, to guide the user to continue to move toward the surgical path from the current position. Alternatively, at least one of a disabling control instruction corresponding to the first catheter operation and an automatic control instruction of the catheter based on the second catheter operation is directly generated, and the automatic control instruction is sent to the catheter control device to control the movement of the catheter.

[0106] In the above embodiments, the user is prevented from making an error in operation, which may cause the catheter to exert excessive force on the natural cavity and cause unnecessary damage to the natural cavity; by guiding or automatically adjusting the movement of the catheter, the intelligence and convenience of the system are improved.

[0107] Specifically, combined Fig.13 As shown, Fig.13 This is a flow chart of a catheter control method in yet another embodiment. In this embodiment, before the operation, the type and characteristics of the damage that the catheter may cause to the natural cavity after entering the natural cavity are determined, and the threshold conditions that may cause damage are determined based on the type and characteristics of the damage.

[0108] In this way, when the operation begins and the catheter enters the natural cavity, the processor calculates the impact factor in real time and determines whether the impact factor meets the threshold condition. If the threshold condition is not met, the operation of the catheter is adjusted to prevent the catheter from damaging the natural cavity.

[0109] The above-mentioned catheter control method obtains the influence factor of the catheter on the natural cavity when the catheter moves in the natural cavity, and determines whether the catheter causes damage to the natural cavity by detecting the relationship between the influence factor and the preset threshold condition. When the influence factor does not meet the threshold condition, control information for adjusting the catheter operation is output based on the influence factor to reduce the damage to the natural cavity. Therefore, this method can reduce the damage of the catheter to the natural cavity and avoid unnecessary damage.

[0110] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0111] Based on the same inventive concept, the embodiment of the present application also provides a catheter control device for implementing the catheter control method involved above. The implementation solution provided by the device to solve the problem is similar to the implementation solution recorded in the above method, so the specific limitations in one or more catheter control device embodiments provided below can refer to the limitations of the catheter control method above, and will not be repeated here.

[0112] In one embodiment, Fig.14 As shown, a catheter control device is provided, including: an influencing factor acquisition module 1401, a judgment module 1402 and an output module 1403, wherein:

[0113] The influence factor acquisition module 1401 is used to obtain the influence factor of the catheter on the natural cavity when the catheter moves in the natural cavity.

[0114] The judgment module 1402 is used to detect the relationship between the impact factor and the preset threshold condition.

[0115] The output module 1403 is configured to output control information for adjusting the catheter operation based on the impact factor when the impact factor does not meet the threshold condition.

[0116] In one embodiment, the influence factor acquisition module 1401 is further used to acquire influence factors of different influence types on the natural cavity when the catheter moves in the natural cavity;

[0117] The determination module 1402 is further configured to determine whether the impact factor satisfies a threshold condition corresponding to the impact type.

[0118] The output module 1403 is further configured to output control information for adjusting the catheter operation based on the impact factor when the impact factor of at least one impact type does not meet the threshold condition of the corresponding impact type.

[0119] In one embodiment, the determination module 1402 is further configured to determine whether the influencing factor satisfies a threshold condition corresponding to the catheter location.

[0120] The output module 1403 is further configured to output control information for adjusting the catheter operation based on the influence factor when the influence factor of at least one catheter site does not meet the threshold condition of the corresponding catheter site.

[0121] In one embodiment, the influencing factor acquisition module 1401 is used to acquire the influencing factor of the catheter on the natural cavity when the catheter moves in the natural cavity according to at least one of the following: acquiring the force of the catheter on the natural cavity acquired by the force sensor on the catheter, and using the force of the catheter on the natural cavity as the influencing factor of the catheter on the natural cavity when the catheter moves in the natural cavity; or acquiring the distance between the catheter and the natural cavity acquired by the image sensor on the catheter, and using the distance between the catheter and the natural cavity as the influencing factor of the catheter on the natural cavity when the catheter moves in the natural cavity; or acquiring the catheter position acquired by the position sensor on the catheter, and mapping the catheter position to the target medical image to obtain the target position, and using the distance between the target position and the natural cavity in the target medical image as the influencing factor of the catheter on the natural cavity when the catheter moves in the natural cavity.

[0122] In one embodiment, the output module 1403 is further used to generate a control instruction of the catheter based on the influencing factor and output the control instruction; or to generate guiding operation information of the catheter based on the influencing factor and output the guiding operation information.

[0123] In one embodiment, the output module 1403 includes:

[0124] The receiving unit is used to receive the operator's operating instructions for the catheter, and determine whether the operating instructions will produce a result of increasing or maintaining the impact factor.

[0125] The instruction generating unit is used to generate a control instruction that does not respond to the operation instruction when the operation instruction will produce a result of increasing or maintaining the influence factor, and otherwise generate a control instruction that controls the movement of the catheter based on the operation instruction.

[0126] In one embodiment, the output module 1403 includes:

[0127] The first motion range acquisition unit is used to acquire the operation plan or the current motion direction, and determine the motion range of the catheter based on the operation plan or the current motion direction.

[0128] The first catheter operation generating unit is used to determine a first catheter operation for increasing or maintaining the influence factor, or a second catheter operation for reducing the influence factor, according to the influence factor and the movement range of the catheter.

[0129] The execution unit is configured to execute at least one of generating a control instruction for filtering the first conduit operation, generating a disabling control instruction corresponding to the first conduit operation, and generating an automatic control instruction for the conduit based on the second conduit operation.

[0130] In one embodiment, the output module 1403 includes:

[0131] The second motion range acquisition unit is used to acquire the operation plan or the current motion direction, and determine the motion range of the catheter based on the operation plan or the current motion direction.

[0132] The second catheter operation generating unit is used to determine the first catheter operation of increasing or maintaining the influence factor, or the second catheter operation of reducing the influence factor according to the influence factor and the movement range of the catheter.

[0133] The guidance information generating unit is used to generate the guidance operation information of the prohibited operation range according to the first catheter operation, or generate the guidance operation information of the permitted operation range based on the second catheter operation.

[0134] Each module in the catheter control device can be implemented in whole or in part by software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0135] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Fig.15As shown. The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, a sports cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a catheter control method is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covered on the display screen, or a button, trackball or touchpad set on the computer device housing, or an external keyboard, touchpad or mouse, etc.

[0136] Those skilled in the art will understand that Fig.15 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0137] In one embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above method embodiments when executing the computer program.

[0138] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0139] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0140] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0141] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0142] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the present application. It should be noted that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A catheter control system, characterized in that: The system comprises: Catheters, used for movement in natural cavities; An influencing factor collection device, used for collecting influencing factors of the catheter on the natural cavity when the catheter moves in the natural cavity; a catheter control device for operating the movement of the catheter in the natural cavity; The processor is configured to perform the following steps according to the impact factor: Acquiring an influence factor of the catheter on the natural cavity when the catheter moves in the natural cavity; Detecting the relationship between the influencing factor and a preset threshold condition; When the influencing factor does not satisfy the threshold condition, outputting control information for adjusting the operation of the catheter based on the influencing factor, including: generating a control instruction for the catheter based on the influencing factor, and outputting the control instruction; Wherein the outputting of the control instruction comprises: Simulating the control instruction of the catheter to determine whether the control instruction of the catheter will result in increasing or maintaining the impact factor, and if so, withdrawing the control instruction of the catheter, otherwise sending the control instruction of the catheter to the catheter control device; or A second catheter operation that avoids damage to the natural cavity is pre-calculated according to the operation plan or the current movement direction, or a first catheter operation that can increase or maintain the impact factor on the natural cavity is pre-calculated, and control instructions for the catheter that prevent damage to the natural cavity are given based on the first catheter operation and the second catheter operation.

2. The system according to claim 1, characterized in that The factors affecting the natural cavity when the acquisition catheter moves in the natural cavity include: Obtaining influencing factors of different influencing types on the natural cavity when the catheter moves in the natural cavity; The detecting the relationship between the influencing factor and a preset threshold condition includes: Determine whether the impact factor meets the threshold condition of the corresponding impact type; When the influencing factor does not satisfy the threshold condition, outputting control information for adjusting the catheter operation based on the influencing factor comprises: When at least one of the impact factors of the impact type does not satisfy the threshold condition of the corresponding impact type, control information for adjusting the catheter operation is output based on the impact factor.

3. The system according to claim 1, characterized in that The detecting the relationship between the influencing factor and a preset threshold condition includes: Determining whether the influencing factor satisfies a threshold condition corresponding to the catheter position; When the influencing factor does not satisfy the threshold condition, outputting control information for adjusting the catheter operation based on the influencing factor comprises: When the influence factor of at least one catheter site does not satisfy the threshold condition of the corresponding catheter site, control information for adjusting the catheter operation is output based on the influence factor.

4. The system according to claim 1, characterized in that When the acquisition catheter moves in the natural cavity, the influencing factors on the natural cavity include at least one of the following: Acquire the force of the catheter on the natural cavity collected by a force sensor on the catheter, and use the force of the catheter on the natural cavity as an influence factor on the natural cavity when the catheter moves in the natural cavity; or Acquiring the distance between the catheter and the natural cavity captured by an image sensor on the catheter, and using the distance between the catheter and the natural cavity as an influence factor on the natural cavity when the catheter moves in the natural cavity; or The catheter position collected by the position sensor on the catheter is obtained, and the catheter position is mapped to the target medical image to obtain the target position, and the distance between the target position and the natural cavity in the target medical image is used as the influencing factor of the natural cavity when the catheter moves in the natural cavity.

5. The system according to any one of claims 1 to 4, characterized in that: The outputting of control information for adjusting the operation of the catheter based on the influencing factor further includes: Guidance operation information of the catheter is generated based on the influencing factor, and the guidance operation information is output.

6. The system according to claim 5, characterized in that The step of generating a control instruction for the catheter based on the influencing factor comprises: receiving an operator's operating instruction for the catheter, and determining whether the operating instruction will produce a result of increasing or maintaining the influence factor; When the operation instruction will produce a result of increasing or maintaining the influence factor, a control instruction that does not respond to the operation instruction is generated, otherwise a control instruction based on the operation instruction is generated to control the movement of the catheter.

7. The system according to claim 5, characterized in that The step of generating a control instruction for the catheter based on the influencing factor comprises: Acquiring an operation plan or a current movement direction, and determining a movement range of the catheter based on the operation plan or the current movement direction; Determining, according to the influencing factor and the movement range of the catheter, a first catheter operation for increasing or maintaining the influencing factor, or a second catheter operation for reducing the influencing factor; At least one of generating a control instruction for filtering the first catheter operation, generating a disabling control instruction corresponding to the first catheter operation, and generating an automatic control instruction for the catheter based on the second catheter operation is executed.

8. The system according to claim 5, characterized in that The generating the guiding operation information of the catheter based on the influencing factor comprises: Acquiring an operation plan or a current movement direction, and determining a movement range of the catheter based on the operation plan or the current movement direction; Determining, according to the influencing factor and the movement range of the catheter, a first catheter operation for increasing or maintaining the influencing factor, or a second catheter operation for reducing the influencing factor; The guidance operation information of the prohibited operation range is generated according to the first catheter operation, or the guidance operation information of the permitted operation range is generated based on the second catheter operation.

9. The system according to claim 1, characterized in that The impact factor collection device includes at least one of the following: a force sensor, used for acquiring the force of the catheter on the natural cavity, and sending the force of the catheter on the natural cavity to a processor; or an image sensor, configured to obtain a distance between the catheter and the natural cavity, and send the distance between the catheter and the natural cavity to a processor; or The position sensor is used to collect the position of the catheter and send the collected position of the catheter to the processor.

10. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the following steps are implemented: Acquiring an influence factor of the catheter on the natural cavity when the catheter moves in the natural cavity; Detecting the relationship between the influencing factor and a preset threshold condition; When the influencing factor does not satisfy the threshold condition, outputting control information for adjusting the operation of the catheter based on the influencing factor, including: generating a control instruction for the catheter based on the influencing factor, and outputting the control instruction; Wherein the outputting of the control instruction comprises: Simulating the control instruction of the catheter to determine whether the control instruction of the catheter will result in increasing or maintaining the impact factor, and if so, withdrawing the control instruction of the catheter, otherwise sending the control instruction of the catheter to the catheter control device; or A second catheter operation that avoids damage to the natural cavity is pre-calculated according to the operation plan or the current movement direction, or a first catheter operation that can increase or maintain the impact factor on the natural cavity is pre-calculated, and control instructions for the catheter that prevent damage to the natural cavity are given based on the first catheter operation and the second catheter operation.

11. The computer device according to claim 10, characterized in that The acquisition of the influencing factors of the natural cavity when the catheter moves in the natural cavity, which is implemented when the processor executes the computer program, includes: Obtaining influencing factors of different influencing types on the natural cavity when the catheter moves in the natural cavity; The detecting the relationship between the influencing factor and a preset threshold condition includes: Determine whether the impact factor meets the threshold condition of the corresponding impact type; When the influencing factor does not satisfy the threshold condition, outputting control information for adjusting the catheter operation based on the influencing factor comprises: When at least one of the impact factors of the impact type does not satisfy the threshold condition of the corresponding impact type, control information for adjusting the catheter operation is output based on the impact factor.

12. The computer device according to claim 10, characterized in that The detecting of the relationship between the influencing factor and a preset threshold condition implemented when the processor executes the computer program includes: Determining whether the influencing factor satisfies a threshold condition corresponding to the catheter position; When the influencing factor does not satisfy the threshold condition, outputting control information for adjusting the catheter operation based on the influencing factor comprises: When the influence factor of at least one catheter site does not satisfy the threshold condition of the corresponding catheter site, control information for adjusting the catheter operation is output based on the influence factor.

13. The computer device according to claim 10, characterized in that The acquisition of the influencing factors of the natural cavity when the catheter moves in the natural cavity, which is implemented when the processor executes the computer program, includes at least one of the following: Acquire the force of the catheter on the natural cavity collected by a force sensor on the catheter, and use the force of the catheter on the natural cavity as an influence factor on the natural cavity when the catheter moves in the natural cavity; or Acquiring the distance between the catheter and the natural cavity captured by an image sensor on the catheter, and using the distance between the catheter and the natural cavity as an influence factor on the natural cavity when the catheter moves in the natural cavity; or The catheter position collected by the position sensor on the catheter is obtained, and the catheter position is mapped to the target medical image to obtain the target position, and the distance between the target position and the natural cavity in the target medical image is used as the influencing factor of the natural cavity when the catheter moves in the natural cavity.

14. The computer device according to any one of claims 10 to 13, characterized in that: The output of control information for adjusting the operation of the catheter based on the influencing factor implemented when the processor executes the computer program further includes: Guidance operation information of the catheter is generated based on the influencing factor, and the guidance operation information is output.

15. The computer device according to claim 14, characterized in that The control instruction for generating the catheter based on the influencing factor implemented when the processor executes the computer program includes: receiving an operator's operating instruction for the catheter, and determining whether the operating instruction will produce a result of increasing or maintaining the influence factor; When the operation instruction will produce a result of increasing or maintaining the influence factor, a control instruction that does not respond to the operation instruction is generated, otherwise a control instruction based on the operation instruction is generated to control the movement of the catheter.

16. The computer device according to claim 14, characterized in that The control instruction for generating the catheter based on the influencing factor implemented when the processor executes the computer program includes: Acquiring an operation plan or a current movement direction, and determining a movement range of the catheter based on the operation plan or the current movement direction; Determining, according to the influencing factor and the movement range of the catheter, a first catheter operation for increasing or maintaining the influencing factor, or a second catheter operation for reducing the influencing factor; At least one of generating a control instruction for filtering the first catheter operation, generating a disabling control instruction corresponding to the first catheter operation, and generating an automatic control instruction for the catheter based on the second catheter operation is executed.

17. The computer device according to claim 14, characterized in that The step of generating the guiding operation information of the catheter based on the influencing factor implemented when the processor executes the computer program includes: Acquiring an operation plan or a current movement direction, and determining a movement range of the catheter based on the operation plan or the current movement direction; Determining, according to the influencing factor and the movement range of the catheter, a first catheter operation for increasing or maintaining the influencing factor, or a second catheter operation for reducing the influencing factor; The guidance operation information of the prohibited operation range is generated according to the first catheter operation, or the guidance operation information of the permitted operation range is generated based on the second catheter operation.

18. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the following steps are implemented: Acquiring an influence factor of the catheter on the natural cavity when the catheter moves in the natural cavity; Detecting the relationship between the influencing factor and a preset threshold condition; When the influencing factor does not satisfy the threshold condition, outputting control information for adjusting the operation of the catheter based on the influencing factor, including: generating a control instruction for the catheter based on the influencing factor, and outputting the control instruction; Wherein the outputting of the control instruction comprises: Simulating the control instruction of the catheter to determine whether the control instruction of the catheter will result in increasing or maintaining the impact factor, and if so, withdrawing the control instruction of the catheter, otherwise sending the control instruction of the catheter to the catheter control device; or A second catheter operation that avoids damage to the natural cavity is pre-calculated according to the operation plan or the current movement direction, or a first catheter operation that can increase or maintain the impact factor on the natural cavity is pre-calculated, and control instructions for the catheter that prevent damage to the natural cavity are given based on the first catheter operation and the second catheter operation.

19. The storage medium according to claim 18, characterized in that The computer program implemented when the processor executes the acquisition catheter moving in the natural cavity, and the influencing factors of the natural cavity, include: Obtaining influencing factors of different influencing types on the natural cavity when the catheter moves in the natural cavity; The detecting the relationship between the influencing factor and a preset threshold condition includes: Determine whether the impact factor meets the threshold condition of the corresponding impact type; When the influencing factor does not satisfy the threshold condition, outputting control information for adjusting the catheter operation based on the influencing factor comprises: When at least one of the impact factors of the impact type does not satisfy the threshold condition of the corresponding impact type, control information for adjusting the catheter operation is output based on the impact factor.

20. The storage medium according to claim 18, characterized in that The detecting of the relationship between the influencing factor and a preset threshold condition implemented when the computer program is executed by the processor includes: Determining whether the influencing factor satisfies a threshold condition corresponding to the catheter position; When the influencing factor does not satisfy the threshold condition, outputting control information for adjusting the catheter operation based on the influencing factor comprises: When the influence factor of at least one catheter site does not satisfy the threshold condition of the corresponding catheter site, control information for adjusting the catheter operation is output based on the influence factor.

21. The storage medium according to claim 18, characterized in that The computer program implemented when the processor executes the acquisition catheter moving in the natural cavity to obtain the influencing factors of the natural cavity includes at least one of the following: Acquire the force of the catheter on the natural cavity collected by a force sensor on the catheter, and use the force of the catheter on the natural cavity as an influence factor on the natural cavity when the catheter moves in the natural cavity; or Acquiring the distance between the catheter and the natural cavity captured by an image sensor on the catheter, and using the distance between the catheter and the natural cavity as an influence factor on the natural cavity when the catheter moves in the natural cavity; or The catheter position collected by the position sensor on the catheter is obtained, and the catheter position is mapped to the target medical image to obtain the target position, and the distance between the target position and the natural cavity in the target medical image is used as the influencing factor of the natural cavity when the catheter moves in the natural cavity.

22. The storage medium according to any one of claims 18 to 21, characterized in that: The output of control information for adjusting the operation of the catheter based on the influencing factor implemented when the computer program is executed by the processor further includes: Guidance operation information of the catheter is generated based on the influencing factor, and the guidance operation information is output.

23. The storage medium according to claim 22, characterized in that The control instructions for generating the catheter based on the influencing factors implemented when the computer program is executed by the processor include: receiving an operator's operating instruction for the catheter, and determining whether the operating instruction will produce a result of increasing or maintaining the influence factor; When the operation instruction will produce a result of increasing or maintaining the influence factor, a control instruction that does not respond to the operation instruction is generated, otherwise a control instruction based on the operation instruction is generated to control the movement of the catheter.

24. The storage medium according to claim 22, characterized in that The control instructions for generating the catheter based on the influencing factors implemented when the computer program is executed by the processor include: Acquiring an operation plan or a current movement direction, and determining a movement range of the catheter based on the operation plan or the current movement direction; Determining, according to the influencing factor and the movement range of the catheter, a first catheter operation for increasing or maintaining the influencing factor, or a second catheter operation for reducing the influencing factor; At least one of generating a control instruction for filtering the first catheter operation, generating a disabling control instruction corresponding to the first catheter operation, and generating an automatic control instruction for the catheter based on the second catheter operation is executed.

25. The storage medium according to claim 22, characterized in that The step of generating the guiding operation information of the catheter based on the influencing factor implemented when the computer program is executed by the processor includes: Acquiring an operation plan or a current movement direction, and determining a movement range of the catheter based on the operation plan or the current movement direction; Determining, according to the influencing factor and the movement range of the catheter, a first catheter operation for increasing or maintaining the influencing factor, or a second catheter operation for reducing the influencing factor; The guidance operation information of the prohibited operation range is generated according to the first catheter operation, or the guidance operation information of the permitted operation range is generated based on the second catheter operation.

26. A computer program product comprising a computer program, characterized in that The computer program is implemented when it is executed by the processor Follow these steps: Acquiring an influence factor of the catheter on the natural cavity when the catheter moves in the natural cavity; Detecting the relationship between the influencing factor and a preset threshold condition; When the influencing factor does not satisfy the threshold condition, outputting control information for adjusting the operation of the catheter based on the influencing factor, including: generating a control instruction for the catheter based on the influencing factor, and outputting the control instruction; Wherein the outputting of the control instruction comprises: Simulating the control instruction of the catheter to determine whether the control instruction of the catheter will result in increasing or maintaining the impact factor, and if so, withdrawing the control instruction of the catheter, otherwise sending the control instruction of the catheter to the catheter control device; or A second catheter operation that avoids damage to the natural cavity is pre-calculated according to the operation plan or the current movement direction, or a first catheter operation that can increase or maintain the impact factor on the natural cavity is pre-calculated, and control instructions for the catheter that prevent damage to the natural cavity are given based on the first catheter operation and the second catheter operation.

27. The computer program product according to claim 26, characterized in that The computer program implemented when the processor executes the acquisition catheter moving in the natural cavity, and the influencing factors of the natural cavity, include: Obtaining influencing factors of different influencing types on the natural cavity when the catheter moves in the natural cavity; The detecting the relationship between the influencing factor and a preset threshold condition includes: Determine whether the impact factor meets the threshold condition of the corresponding impact type; When the influencing factor does not satisfy the threshold condition, outputting control information for adjusting the catheter operation based on the influencing factor comprises: When at least one of the impact factors of the impact type does not satisfy the threshold condition of the corresponding impact type, control information for adjusting the catheter operation is output based on the impact factor.

28. The computer program product according to claim 26, characterized in that The detecting of the relationship between the influencing factor and a preset threshold condition implemented when the computer program is executed by the processor includes: Determining whether the influencing factor satisfies a threshold condition corresponding to the catheter position; When the influencing factor does not satisfy the threshold condition, outputting control information for adjusting the catheter operation based on the influencing factor comprises: When the influence factor of at least one catheter site does not satisfy the threshold condition of the corresponding catheter site, control information for adjusting the catheter operation is output based on the influence factor.

29. The computer program product according to claim 26, characterized in that The computer program implemented when the processor executes the acquisition catheter moving in the natural cavity to obtain the influencing factors of the natural cavity includes at least one of the following: Acquire the force of the catheter on the natural cavity collected by a force sensor on the catheter, and use the force of the catheter on the natural cavity as an influence factor on the natural cavity when the catheter moves in the natural cavity; or Acquiring the distance between the catheter and the natural cavity captured by an image sensor on the catheter, and using the distance between the catheter and the natural cavity as an influence factor on the natural cavity when the catheter moves in the natural cavity; or The catheter position collected by the position sensor on the catheter is obtained, and the catheter position is mapped to the target medical image to obtain the target position, and the distance between the target position and the natural cavity in the target medical image is used as the influencing factor of the natural cavity when the catheter moves in the natural cavity.

30. The computer program product according to any one of claims 26 to 29, characterized in that The output of control information for adjusting the operation of the catheter based on the influencing factor implemented when the computer program is executed by the processor further includes: Guidance operation information of the catheter is generated based on the influencing factor, and the guidance operation information is output.

31. The computer program product according to claim 30, characterized in that The control instructions for generating the catheter based on the influencing factors implemented when the computer program is executed by the processor include: receiving an operator's operating instruction for the catheter, and determining whether the operating instruction will produce a result of increasing or maintaining the influence factor; When the operation instruction will produce a result of increasing or maintaining the influence factor, a control instruction that does not respond to the operation instruction is generated, otherwise a control instruction based on the operation instruction is generated to control the movement of the catheter.

32. The computer program product according to claim 30, characterized in that The control instructions for generating the catheter based on the influencing factors implemented when the computer program is executed by the processor include: Acquiring an operation plan or a current movement direction, and determining a movement range of the catheter based on the operation plan or the current movement direction; Determining, according to the influencing factor and the movement range of the catheter, a first catheter operation for increasing or maintaining the influencing factor, or a second catheter operation for reducing the influencing factor; At least one of generating a control instruction for filtering the first catheter operation, generating a disabling control instruction corresponding to the first catheter operation, and generating an automatic control instruction for the catheter based on the second catheter operation is executed.

33. The computer program product according to claim 30, characterized in that The step of generating the guiding operation information of the catheter based on the influencing factor implemented when the computer program is executed by the processor includes: Acquiring an operation plan or a current movement direction, and determining a movement range of the catheter based on the operation plan or the current movement direction; Determining, according to the influencing factor and the movement range of the catheter, a first catheter operation for increasing or maintaining the influencing factor, or a second catheter operation for reducing the influencing factor; The guidance operation information of the prohibited operation range is generated according to the first catheter operation, or the guidance operation information of the permitted operation range is generated based on the second catheter operation.

Images