Interventional surgery robot catheter guide wire action control method and related equipment thereof

Abstract

The embodiment of the application belongs to the technical field of artificial intelligence, and relates to an interventional surgery robot catheter guide wire action control method and a related device thereof. The method comprises the following steps: obtaining target control information; determining a target controlled object according to the target control information, and judging whether the target controlled object meets a preset safety distance condition and a preset low-speed following condition; if the target controlled object meets the preset safety distance condition and the preset low-speed following condition, controlling the target controlled object to perform low-speed following movement according to a first preset optimization parameter; and if the target controlled object meets the preset safety distance condition but does not meet the preset low-speed following condition, controlling the target controlled object to perform high-speed following movement according to a second preset optimization parameter. The application can reduce the noise of catheter guide wire movement and is more conducive to surgery.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of artificial intelligence, more particularly, to an interventional surgery robot catheter guide wire action control method and a related device thereof. BACKGROUND

[0002] In recent years, interventional surgery robots have been developed, which simulate the hand movements of doctors to realize various movements of catheter guide wires. Doctors can remotely control the robots without being present at the catheter bed, thereby avoiding radiation problems and having great clinical value. Existing interventional surgery robots include master-slave operation systems. The master operation system is provided with an operation lever, and the slave end is provided with a plurality of driving trolleys for clamping and delivering rotating catheter guide wires. Doctors control the operation lever to generate control information and send it to the slave end, which controls the trolleys to perform corresponding operations. However, the trolleys generate excessive noise during operation, which interferes with doctors and patients and is not conducive to surgery. SUMMARY

[0003] The technical problem to be solved by the embodiments of the present application is that the existing catheter guide wire control method generates excessive noise, which interferes with doctors and patients and is not conducive to surgery.

[0004] To solve the above technical problems, the embodiments of the present application provide an interventional surgery robot catheter guide wire action control method, which adopts the following technical solutions:

[0005] The interventional surgery robot catheter guide wire action control method comprises:

[0006] obtaining target control information;

[0007] determining a target controlled object according to the target control information, and judging whether the target controlled object meets a preset safety distance condition and a preset low-speed following condition;

[0008] if the target controlled object meets the preset safety distance condition and the preset low-speed following condition, controlling the target controlled object to perform low-speed following movement according to a first preset optimization parameter;

[0009] if the target controlled object meets the preset safety distance condition but does not meet the preset low-speed following condition, controlling the target controlled object to perform high-speed following movement according to a second preset optimization parameter.

[0010] Further, the target control information comprises a target operation lever identifier, a target operation lever pushing displacement, and a target operation lever pushing speed. The determination of a target controlled object according to the target control information and the judgment of whether the target controlled object meets a preset safety distance condition and a preset low-speed following condition comprise:

[0011] The target controlled object is determined based on the target control lever identifier, and there is a corresponding relationship between the target controlled object and the target control lever;

[0012] Obtain the current position of the target controlled object;

[0013] Determine whether the target controlled object meets the preset safe distance condition based on its current position;

[0014] If the target controlled object meets the preset safety distance condition, then the target position of the target controlled object is determined according to the displacement of the target control lever and the current position of the target controlled object, and the current speed of the target controlled object is determined according to the speed of the target control lever.

[0015] Based on the target position and current speed of the target controlled object, determine whether the target controlled object meets the preset low-speed following condition.

[0016] Furthermore, the target controlled object includes a first driving vehicle and a second driving vehicle, which are used to jointly drive the movement of the conduit; when the first driving vehicle and the second driving vehicle are controlled simultaneously, the step of determining whether the target controlled object meets the preset safe distance condition based on the current position of the target controlled object includes:

[0017] Based on the current positions of the first driving vehicle and the second driving vehicle, determine whether the distance between the first driving vehicle and the second driving vehicle is not less than a first preset safe distance threshold.

[0018] If the distance between the first driving vehicle and the second driving vehicle is not less than the first preset safe distance threshold, then the target controlled object is determined to meet the preset safe distance condition;

[0019] If the distance between the first driving vehicle and the second driving vehicle is less than the first preset safe distance threshold, then the target controlled object is determined not to meet the preset safe distance condition.

[0020] Furthermore, the target controlled object also includes a third drive trolley, which is used to drive the guide wire movement when only the third drive trolley is controlled; the step of determining whether the target controlled object meets the preset safe distance condition based on its current position includes:

[0021] determining whether a distance between the third driving trolley and the second driving trolley is not less than a second preset safety distance threshold according to a current position of the third driving trolley;

[0022] if the distance between the third driving trolley and the second driving trolley is not less than the second preset safety distance threshold, determining that the target controlled object satisfies the preset safety distance condition;

[0023] if the distance between the third driving trolley and the second driving trolley is less than the second preset safety distance threshold, determining that the target controlled object does not satisfy the preset safety distance condition.

[0024] Further, when the first driving trolley, the second driving trolley and the third driving trolley are simultaneously controlled, the determining whether the target controlled object satisfies the preset safety distance condition according to the current position of the target controlled object comprises:

[0025] determining whether a distance between the first driving trolley and the second driving trolley is not less than a first preset safety distance threshold and whether a distance between the third driving trolley and the second driving trolley is not less than a second preset safety distance threshold according to current positions of the first driving trolley, the second driving trolley and the third driving trolley;

[0026] if the safety distance between the first driving trolley and the second driving trolley is not less than the first preset safety distance threshold and the distance between the third driving trolley and the second driving trolley is not less than the second preset safety distance threshold, determining that the target controlled object satisfies the preset safety distance condition;

[0027] if the distance between the first driving trolley and the second driving trolley is less than the first preset safety distance threshold and the distance between the third driving trolley and the second driving trolley is less than the second preset safety distance threshold, determining that the target controlled object does not satisfy the preset safety distance condition.

[0028] Further, the determining whether the target controlled object satisfies the preset low-speed following condition according to the target position and the current speed of the target controlled object comprises:

[0029] determining whether a distance between the target position of the target controlled object and the current position of the target controlled object is less than a preset distance, whether the current speed of the target controlled object is less than a preset speed, and whether the target controlled object is in a homing process according to the target position and the current speed of the target controlled object;

[0030] If the distance between the target position of the target controlled object and the current position of the target controlled object is less than the preset distance, and the current speed of the target controlled object is less than the preset speed, and the target controlled object is not in the homing process, it is determined that the target controlled object meets the preset low-speed following condition, otherwise, it is determined that the target controlled object does not meet the preset low-speed following condition.

[0031] Further, if the target controlled object meets the preset safety distance condition but does not meet the preset low-speed following condition, before the target controlled object performs high-speed following movement according to the second preset optimization parameter, the method further comprises:

[0032] A plurality of sets of preset parameters are obtained, and a speed-time curve of the target controlled object is output according to the plurality of sets of preset parameters, the plurality of sets of preset parameters being obtained by setting on a preset parameter simulator;

[0033] The maximum acceleration of the target controlled object is determined according to the speed-time curve;

[0034] The set of preset parameters corresponding to the maximum acceleration is determined as the second preset optimization parameter.

[0035] The embodiment of the application also provides an interventional surgery robot catheter guide wire action control device, the device comprises:

[0036] A first acquisition module is configured to acquire target control information;

[0037] A judgment module is configured to determine a target controlled object according to the target control information, and to judge whether the target controlled object meets a preset safety distance condition and a preset low-speed following condition;

[0038] A first control module is configured to control the target controlled object to perform low-speed following movement according to a first preset optimization parameter if the target controlled object meets the preset safety distance condition and the preset low-speed following condition;

[0039] A second control module is configured to control the target controlled object to perform high-speed following movement according to a second preset optimization parameter if the target controlled object meets the preset safety distance condition but does not meet the preset low-speed following condition.

[0040] The embodiment of the application also provides an electronic device, which comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps in the interventional surgery robot catheter guide wire action control method according to the above-mentioned embodiment when executing the computer program.

[0041] The application also provides a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and the computer program is executed by a processor to implement steps in the intervention surgery robot catheter guide wire action control method.

[0042] Compared with the prior art, the embodiments of the application have the following beneficial effects:

[0043] By obtaining target control information, determining a target controlled object according to the target control information, and judging whether the target controlled object meets a preset safety distance condition and a preset low-speed following condition, if the target controlled object meets the preset safety distance condition and the preset low-speed following condition, the target controlled object is controlled to perform low-speed following movement according to a first preset optimization parameter, and if the target controlled object meets the preset safety distance condition but does not meet the preset low-speed following condition, the target controlled object is controlled to perform high-speed following movement according to a second preset optimization parameter. In this way, the driving trolley can control the catheter or guide wire to perform low-speed movement control or high-speed movement control according to the first preset optimization parameter or the second preset optimization parameter in combination with the judgment of the preset safety distance condition and the preset low-speed following condition, so that the driving trolley can run with a smooth acceleration and deceleration curve without affecting the following performance of the driving trolley, thereby reducing the running noise of the motor in the driving trolley at low speed, and the driving trolley can follow the advancing or retreating speed of the target control rod with a larger acceleration, thereby reducing the running noise of the motor in the driving trolley at high speed. This avoids noise interference to the doctor and the patient, and is more conducive to the surgery. BRIEF DESCRIPTION OF DRAWINGS

[0044] In order to more clearly illustrate the schemes in the application or the prior art, the drawings needed in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0045] Figure 1 is a framework diagram of a master-slave end operation system provided by the embodiments of the application;

[0046] Figure 2 is a flowchart of an intervention surgery robot catheter guide wire action control method provided by the embodiments of the application;

[0047] Figure 3 is Figure 2A flow chart of a method provided in step 202 of the embodiment;

[0048] Figure 4 A flow chart of another method for controlling actions of a catheter and a guide wire of an interventional surgery robot provided in an embodiment of the present application;

[0049] Figure 5 A structural schematic diagram of a device for controlling actions of a catheter and a guide wire of an interventional surgery robot provided in an embodiment of the present application;

[0050] Figure 6 A structural schematic diagram of a device for controlling actions of a catheter and a guide wire of an interventional surgery robot provided in an embodiment of the present application; Figure 5 A structural schematic diagram of a device provided by the judging module in the embodiment;

[0051] Figure 7 A structural schematic diagram of another device for controlling actions of a catheter and a guide wire of an interventional surgery robot provided in an embodiment of the present application;

[0052] Figure 8 A structural schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0053] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used in the description herein is for describing particular embodiments only and is not intended to be limiting of the application; the present application will be described with reference to the drawings in which is shown by way of illustration various embodiments of the application. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The use of the terms "including," "comprising," or "having" and variations thereof herein is intended to be broad and encompass the terms "consisting of" and "consisting essentially of," and variations thereof. The use of the terms "first," "second," and the like does not imply a limitation on the number of objects that can comprise the elements, but rather the order in which the objects are described.

[0054] Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase "in an embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily all directed to the same embodiments. It is expressly understood that any of the

[0055] As shown in FIG. 1, the method for controlling actions of a catheter and a guide wire of an interventional surgery robot provided in the embodiment can be applied to an interventional surgery robot system as shown in FIG. 2. Figure 1 Figure 1 ​The application is applied to the application environment of the interventional surgery robot. The application provides a master-slave operating system, which comprises a master operating system 101 and a slave operating system 103. The master operating system 101 is provided with an operating rod, which comprises a catheter operating rod 1011 and a guide wire operating rod 1012. The slave operating system 103 is provided with a plurality of driving trolleys. In this embodiment, three driving trolleys are taken as examples for illustration, which are a first driving trolley 1031, a second driving trolley 1032 and a third driving trolley 1033. The first driving trolley 1031 and the second driving trolley 1032 jointly drive the catheter to move, and the third driving trolley 1033 drives the guide wire to move. The first driving trolley 1031, the second driving trolley 1032 and the third driving trolley 1033 correspond to a control motor respectively. The master operating system 101 and the slave operating system 103 communicate through a network 102. The network 102 communication can be wired connection or wireless connection for data processing and communication with other devices. It should be noted that the wireless connection mode can include but is not limited to 3G / 4G connection, WiFi connection, Bluetooth connection, WiMAX connection, Zigbee connection, UWB (ultra wideband) connection and other now known or future developed wireless connection modes.

[0056] In order to enable the personnel in the technical field to better understand the scheme of the present application, the technical scheme in the embodiments of the present application will be clearly and completely described below in combination with the drawings.

[0057] As shown in Figure 2 The application provides an interventional surgery robot catheter guide wire action control method, which comprises the following steps:

[0058] Step 201, obtaining target control information.

[0059] The target control information comprises a target operating rod identifier, a target operating rod pushing displacement and a target operating rod pushing speed.

[0060] The target control information is control information sent by the master operating system to control the slave operating system. The target operating rod identifier is the identifier of the operating rod in the master operating system, for example, when the staff operates the catheter operating rod in the master operating system, the target operating rod identifier is the identifier of the catheter operating rod, and the target operating rod is the catheter operating rod. Of course, when the staff operates the guide wire operating rod in the master operating system, the target operating rod identifier is the identifier of the guide wire operating rod, and the target operating rod is the guide wire operating rod. The target operating rod identifier can be marked by a numerical value, a letter, a symbol, a character or a picture.

[0061] The target operation lever pushing displacement is the distance and direction of the target operation lever being operated to move. Specifically, it is the distance from the initial position to the final position of the target operation lever. The target operation lever pushing displacement is directly detected by the displacement encoder.

[0062] The target operation lever pushing speed is the speed of the target operation lever being operated to move.

[0063] Specifically, when the operation lever on the master operation system is operated, the master operation system acquires specific control information and sends it to the slave operation system.

[0064] Step 202, determining the target controlled object according to the target control information, and judging whether the target controlled object meets the preset safety distance condition and the preset low-speed following condition.

[0065] The target controlled object includes the first driving trolley and the second driving trolley, or the third driving trolley, or the first driving trolley, the second driving trolley and the third driving trolley. The first driving trolley and the second driving trolley are used to drive the catheter to move together, and the third driving trolley is used to drive the guide wire to move. Specifically, when the catheter needs to be controlled to move, the identifier of the catheter operation lever needs to be acquired, and according to the correspondence between the catheter operation lever and the driving trolley, the target controlled object is determined as the first driving trolley and the second driving trolley, so as to drive the catheter to move through the first driving trolley and the second driving trolley. Or, when the guide wire needs to be controlled to move, the identifier of the guide wire operation lever needs to be acquired, and according to the correspondence between the guide wire operation lever and the driving trolley, the target controlled object is determined as the third driving trolley, so as to drive the guide wire to move through the third driving trolley. Of course, when the catheter and the guide wire need to be controlled to move at the same time, the identifiers of the catheter operation lever and the guide wire operation lever need to be acquired, and according to the correspondence between the catheter operation lever and the guide wire operation lever and the driving trolley, the target controlled object is determined as the first driving trolley, the second driving trolley and the third driving trolley, so as to drive the catheter to move through the first driving trolley and the second driving trolley, and drive the guide wire to move through the third driving trolley.

[0066] The preset safety distance condition is whether the distance between the target controlled objects is within the preset safety distance range. If the distance between the target controlled objects is within the preset safety distance range, it means that the target controlled objects meet the preset safety distance condition, otherwise, they do not meet it.

[0067] The low-speed following condition is whether the distance between the target position of the target controlled object and its current position is within the preset distance range. If the distance between the target position of the target controlled object and its current position is within the preset distance range, it means that the target controlled object meets the low-speed following condition, otherwise, it does not meet it.

[0068] Specifically, as shown inFigure 3 As shown, step 202 comprises:

[0069] Step 301, determining a target controlled object according to the target operating rod identifier, the target controlled object and the target operating rod having a corresponding relationship.

[0070] The corresponding relationship between the target controlled object and the target operating rod is that: when the target operating rod is a catheter operating rod, the target controlled object corresponds to the first driving trolley and the second driving trolley; when the target operating rod is a guide wire operating rod, the target controlled object corresponds to the third driving trolley.

[0071] Specifically, once the identifier of the target operating rod is obtained, the target controlled object can be determined according to the corresponding relationship.

[0072] Step 302, obtaining the current position of the target controlled object.

[0073] Specifically, after determining the target controlled object, the current position of the target controlled object is directly determined. The current position of the target controlled object can be detected by a self-positioning system of the target controlled object.

[0074] Step 303, judging whether the target controlled object satisfies a preset safety distance condition according to the current position of the target controlled object.

[0075] Specifically, the target controlled object includes the first driving trolley and the second driving trolley; when the first driving trolley and the second driving trolley are controlled at the same time, step 303 comprises: judging whether the distance between the first driving trolley and the second driving trolley is not less than a first preset safety distance threshold according to the current position of the first driving trolley and the current position of the second driving trolley. If the distance between the first driving trolley and the second driving trolley is not less than the first preset safety distance threshold, it is determined that the target controlled object satisfies the preset safety distance condition. If the safety distance between the first driving trolley and the second driving trolley is less than the first preset safety distance threshold, it is determined that the target controlled object does not satisfy the preset safety distance condition.

[0076] The first preset safety distance threshold can be set to 30mm or other values. The purpose of setting the first preset safety distance threshold is to avoid the first driving trolley and the second driving trolley from colliding during movement and to ensure normal movement of the catheter.

[0077] When the target controlled object further comprises the third driving trolley, when only the third driving trolley is controlled, step 303 comprises: judging whether the distance between the third driving trolley and the second driving trolley is not less than the second preset safety distance threshold according to the current positions of the third driving trolley and the second driving trolley. If the distance between the third driving trolley and the second driving trolley is not less than the second preset safety distance threshold, it is determined that the target controlled object satisfies the preset safety distance condition. If the distance between the third driving trolley and the second driving trolley is less than the second preset safety distance threshold, it is determined that the target controlled object does not satisfy the preset safety distance condition.

[0078] The second preset safety distance threshold can be 30 mm or other values. Of course, the first preset safety distance threshold and the second preset safety distance threshold can be the same or different. The purpose of setting the second preset safety distance threshold is to avoid the third driving trolley and the second driving trolley from colliding in the movement process and to ensure the normal movement of the guide wire.

[0079] When the first driving trolley, the second driving trolley and the third driving trolley are controlled at the same time, step 303 comprises: judging whether the distance between the first driving trolley and the second driving trolley is not less than the first preset safety distance threshold and whether the distance between the third driving trolley and the second driving trolley is not less than the second preset safety distance threshold according to the current positions of the first driving trolley, the second driving trolley and the third driving trolley. If the distance between the first driving trolley and the second driving trolley is not less than the first preset safety distance threshold and the distance between the third driving trolley and the second driving trolley is not less than the second preset safety distance threshold, it is determined that the target controlled object satisfies the preset safety distance condition. If the distance between the first driving trolley and the second driving trolley is less than the first preset safety distance threshold and the distance between the third driving trolley and the second driving trolley is less than the second preset safety distance threshold, it is determined that the target controlled object does not satisfy the preset safety distance condition.

[0080] In the embodiment of the application, when the target controlled object comprises the first driving trolley, the second driving trolley and the third driving trolley, it can be further judged whether the pushing displacement of the catheter operating lever and the guide wire operating lever is in the same direction. If it is in the same direction, it is necessary to judge whether the distance between the first driving trolley and the second driving trolley is not less than the first preset safety distance threshold (30 mm or other values) and whether the distance between the second driving trolley and the third driving trolley is the second preset safety distance threshold (30 mm or other values). If it is not in the same direction, operation error warning information is generated and displayed on the display screen to prompt the staff to take measures.

[0081] Step 304, if the target controlled object satisfies the preset safety distance condition, the target position of the target controlled object is determined according to the target operation lever pushing displacement and the current position of the target controlled object, and the current speed of the target controlled object is determined according to the target operation lever pushing speed.

[0082] Specifically, if the target controlled object satisfies the preset safety distance condition, the target position of the target controlled object can be calculated by combining the target operation lever pushing displacement and the sum of the target displacement corresponding to the target controlled object and the current position of the target controlled object, that is, the target position of the target controlled object is equal to the target pushing displacement plus the current position of the target controlled object.

[0083] The target operation lever pushing speed and the current speed of the target controlled object have a corresponding relationship, and the current speed of the target controlled object will change with the change of the pushing speed of the target operation lever, so that the delivery speed of the catheter and the guide wire will also follow the pushing speed of the target operation lever. Therefore, once the pushing speed of the target operation lever is determined, the current speed of the target controlled object can be correspondingly obtained.

[0084] Step 305, according to the target position and the current speed of the target controlled object, it is judged whether the target controlled object satisfies the preset low-speed following condition.

[0085] Specifically, according to the target position and the current speed of the target controlled object, it is judged whether the distance between the target position of the target controlled object and the current position of the target controlled object is less than the preset distance, whether the current speed of the target controlled object is less than the preset speed, and whether the target controlled object is in the homing process. If the distance between the target position of the target controlled object and the current position of the target controlled object is less than the preset distance, the current speed of the target controlled object is less than the preset speed, and the target controlled object is not in the homing process, it is determined that the target controlled object satisfies the preset low-speed following condition, otherwise, it is determined that the target controlled object does not satisfy the preset low-speed following condition.

[0086] The preset distance is set in advance and is used to judge the distance range of single motion of the target controlled object. The above-mentioned preset speed is also set in advance and is used to judge the speed range of single motion of the target controlled object. In this way, the preset distance and the preset speed are used to judge whether the target controlled object is in the low-speed following condition.

[0087] The homing process is that the doctor's hand leaves the operation lever, the touch switch on the operation lever jumps to the off state, then the reset motor drives the operation lever to automatically reset, at the same time, the master end operation system sends a reset command to the slave end controller, the slave end controller controls the driving trolley installed with the catheter / guide wire to reset to a specific position, so as to realize the reset of the operation lever and further realize the reset of the catheter and guide wire.

[0088] In the embodiments of the present application, as shown in Figure 4 Before step 203, the interventional surgical robot catheter guide wire action control device further comprises the following steps:

[0089] Step 401, obtain the target operating rod pushing displacement and the first time corresponding to the target operating rod pushing displacement.

[0090] Step 402, obtain the target controlled object target displacement and the second time corresponding to the target controlled object target displacement, the target controlled object target displacement being obtained according to the target operating rod pushing displacement.

[0091] Step 403, calculate the time difference value of the first time and the second time, and determine the time difference value as the follow-up time delay of the target operating rod and the target controlled object.

[0092] Specifically, during the delivery process of the catheter and the guide wire, the target position is real-time changing. Taking an example of the operating rod running a distance from 0 to s, the driving trolley will drive the catheter and the guide wire to run from 0 to s in the shortest time, and the running of the catheter and the guide wire includes but is not limited to acceleration running, constant speed running, and deceleration stopping. During the running of the catheter and the guide wire, the position of the operating rod is followed in the shortest time. Therefore, when the time difference value is determined, the shorter the time difference, the shorter the follow-up time delay, and the movement of the catheter and the guide wire is closer to the movement of the operating rod.

[0093] Step 203, if the target controlled object meets the preset safety distance condition and the preset low-speed follow-up condition, then according to the first preset optimization parameter, control the target controlled object to perform low-speed follow-up movement.

[0094] The above-mentioned first preset optimization parameter is pre-set, and the first preset optimization parameter includes P parameter and I parameter, that is, the first preset optimization parameter can also be called first optimization PI parameter. Specifically, by adjusting the second preset optimization parameter (second preset optimization PI parameter), the optimal PI parameter with smaller noise in high-speed stage variable speed running and smaller noise in low-speed stage variable speed running is determined as the first optimization PI parameter. Specifically, the second preset optimization PI parameter is gradually adjusted by the researchers, so that the second preset optimization PI parameter gradually decreases, and the maximum acceleration of the driving trolley also gradually decreases. During the process of gradually decreasing the maximum acceleration of the driving trolley, the noise of the driving trolley in the low-speed stage variable speed running gradually decreases. When the noise of the driving trolley in the high-speed stage meets the noise condition, and the noise of the driving trolley in the low-speed stage also meets the noise condition, the corresponding preset parameter is determined as the first optimization PI parameter (that is, the optimal PI parameter with smaller noise in high-speed stage and smaller noise in low-speed stage is determined as the first optimization PI parameter), and the first optimization PI parameter is the low-speed response parameter.

[0095] Specifically, when the target controlled object meets the preset safety distance condition and meets the preset low-speed following condition, the driving trolley will move according to the first preset optimization parameter, the driving trolley will deliver the guide wire / catheter with a smooth acceleration and deceleration curve (a PI parameter corresponds to an acceleration curve, the smooth acceleration and deceleration curve is the curve corresponding to the low response parameters P0 and I0, which represents a smooth acceleration and deceleration curve, which can be understood as a small acceleration), and the noise will be small. Further, the optimization process is achieved.

[0096] Step 204, if the target controlled object meets the preset safety distance condition but does not meet the preset low-speed following condition, the target controlled object is controlled to move at high speed according to the second preset optimization parameter.

[0097] The above-mentioned second preset optimization parameter is pre-set, and the second preset optimization parameter includes P parameter and I parameter, that is, the second preset optimization parameter can also be called second preset optimization PI parameter.

[0098] Specifically, before step 204, a plurality of groups of preset parameters can be obtained, and the speed-time curve of the target controlled object is output according to the plurality of groups of preset parameters, and the plurality of groups of preset parameters are obtained by setting on the preset parameter simulator; the maximum acceleration of the target controlled object is determined according to the speed-time curve; and a group of preset parameters corresponding to the maximum acceleration is determined as the second preset optimization parameter.

[0099] Each group of preset parameters includes P parameter and I parameter. The preset parameter simulator is a PI parameter simulator. More specifically, the adjustment process of the second preset optimization parameter is: determining the maximum acceleration suitable for the driving trolley, which ensures that the driving trolley can follow the operating rod with the smallest time delay. The researchers set a plurality of groups of P parameters and I parameters on the PI parameter simulator, and each group of PI parameters corresponds to an output speed-time curve; the maximum acceleration is determined by using the speed-time curve, and then the preset parameter corresponding to the maximum acceleration is determined as the second optimization PI parameter, which is the high-speed response PI parameter P1 and I1.

[0100] Specifically, when the driving trolley does not meet the low-speed following condition, the high-speed response PI parameter P1 and I1 (which can be understood as a large acceleration) will be set, and the driving trolley will follow the advancing or retreating speed of the main end operating rod with a large acceleration, at this time the trolley will respond quickly and the noise will be small.

[0101] In the embodiment of the present application, the target control information is acquired; the target controlled object is determined according to the target control information, and it is judged whether the target controlled object meets the preset safe distance condition and whether the target controlled object meets the preset low-speed following condition; if the target controlled object meets the preset safe distance condition and meets the preset low-speed following condition, the target controlled object is controlled to perform low-speed following movement according to the first preset optimization parameter; if the target controlled object meets the preset safe distance condition but does not meet the preset low-speed following condition, the target controlled object is controlled to perform high-speed following movement according to the second preset optimization parameter. In this way, the determination of the preset safe distance condition and the preset low-speed following condition can be combined, the driving trolley can control the catheter or the guide wire to perform low-speed movement control or high-speed movement control according to the first preset optimization parameter or the second preset optimization parameter under the condition of ensuring normal movement of the driving trolley. The high-low speed combined control method of the driving trolley can obviously reduce the noise of the driving trolley in the surgical process, the driving trolley runs with a smooth acceleration-deceleration curve under the premise of not affecting the following performance of the driving trolley, reduces the running noise of the motor in the driving trolley at low speed, and at the same time, the driving trolley follows the advancing or retreating speed of the target operating rod with a larger acceleration, thereby reducing the running noise of the motor in the driving trolley at high speed. The noise interference to the doctor and the patient is avoided, and the surgery is more conducive to the surgery.

[0102] As shown in Figure 5 The embodiment of the present application also provides an interventional surgery robot catheter guide wire action control device, and the interventional surgery robot catheter guide wire action control device 500 comprises:

[0103] The first acquisition module 501 is used for acquiring target control information;

[0104] The judgment module 502 is used for determining the target controlled object according to the target control information, and judging whether the target controlled object meets the preset safe distance condition and whether the target controlled object meets the preset low-speed following condition;

[0105] The first control module 503 is used for controlling the target controlled object to perform low-speed following movement according to the first preset optimization parameter if the target controlled object meets the preset safe distance condition and meets the preset low-speed following condition.

[0106] The second control module 504 is used for controlling the target controlled object to perform high-speed following movement according to the second preset optimization parameter if the target controlled object meets the preset safe distance condition but does not meet the preset low-speed following condition.

[0107] Optionally, the target control information comprises a target operating rod identifier, a target operating rod advancing displacement and a target operating rod advancing speed, as shown in Figure 6 The judgment module 502 comprises:

[0108] ​The first determination unit 5021 is configured to determine a target controlled object according to the target operation lever identifier, the target controlled object being in a corresponding relationship with the target operation lever.

[0109] The acquisition unit 5022 is configured to acquire a current position of the target controlled object.

[0110] The first judgment unit 5023 is configured to judge whether the target controlled object meets a preset safety distance condition according to the current position of the target controlled object.

[0111] The second determination unit 5024 is configured to determine a target position of the target controlled object according to the target operation lever pushing displacement and the current position of the target controlled object, and determine a current speed of the target controlled object according to the target operation lever pushing speed, if the target controlled object meets the preset safety distance condition.

[0112] The second judgment unit 5025 is configured to judge whether the target controlled object meets a preset low-speed following condition according to the target position and the current speed of the target controlled object.

[0113] Optionally, the target controlled object comprises a first driving trolley and a second driving trolley, the first driving trolley and the second driving trolley being configured to jointly drive a catheter to move; when the first driving trolley and the second driving trolley are controlled simultaneously, the first judgment unit 5023 is further configured to judge whether a distance between the first driving trolley and the second driving trolley is not less than a first preset safety distance threshold according to the current position of the first driving trolley and the current position of the second driving trolley. If the safety distance between the first driving trolley and the second driving trolley is not less than the first preset safety distance threshold, it is determined that the target controlled object meets the preset safety distance condition. If the distance between the first driving trolley and the second driving trolley is less than the first preset safety distance threshold, it is determined that the target controlled object does not meet the preset safety distance condition.

[0114] Optionally, the target controlled object further comprises a third driving trolley, the third driving trolley being configured to drive a guide wire to move; when the third driving trolley is controlled only, the first judgment unit 5023 is further configured to judge whether a distance between the third driving trolley and the second driving trolley is not less than a second preset safety distance threshold according to the current position of the third driving trolley. If the distance between the third driving trolley and the second driving trolley is not less than the second preset safety distance threshold, it is determined that the target controlled object meets the preset safety distance condition. If the distance between the third driving trolley and the second driving trolley is less than the second preset safety distance threshold, it is determined that the target controlled object does not meet the preset safety distance condition.

[0115] Optionally, when controlling the first drive vehicle, the second drive vehicle, and the third drive vehicle simultaneously, the first judgment unit 5023 is further configured to determine, based on the current positions of the first drive vehicle, the second drive vehicle, and the third drive vehicle, whether the distance between the first drive vehicle and the second drive vehicle is not less than a first preset safety distance threshold, and whether the distance between the third drive vehicle and the second drive vehicle is not less than a second preset safety distance threshold. If the distance between the first drive vehicle and the second drive vehicle is not less than the first preset safety distance threshold, and the distance between the third drive vehicle and the second drive vehicle is not less than the second preset safety distance threshold, then the target controlled object is determined to meet the preset safety distance condition. If the distance between the first drive vehicle and the second drive vehicle is less than the first preset safety distance threshold, and the distance between the third drive vehicle and the second drive vehicle is less than the second preset safety distance threshold, then the target controlled object is determined not to meet the preset safety distance condition.

[0116] Optionally, the second judgment unit 5025 is further configured to determine, based on the target position and current speed of the target controlled object, whether the distance between the target position and the current position of the target controlled object is less than a preset distance, whether the current speed of the target controlled object is less than a preset speed, and whether the target controlled object is in the homing process. If the distance between the target position and the current position of the target controlled object is less than the preset distance, the current speed of the target controlled object is less than the preset speed, and the target controlled object is not in the homing process, then the target controlled object is determined to meet the preset low-speed following condition; otherwise, the target controlled object is determined not to meet the preset low-speed following condition.

[0117] Optional, such as Figure 7 As shown, in Figure 5 Based on the first control module, the interventional surgical robot catheter and guidewire motion control device 500 further includes:

[0118] The second acquisition module 505 acquires the target control lever advance displacement and the first time corresponding to the target control lever advance displacement.

[0119] The third acquisition module 506 is used to acquire the target displacement of the target controlled object and the second time corresponding to the target displacement of the target controlled object. The target displacement of the target controlled object is obtained based on the displacement of the target operating lever.

[0120] The calculation module 507 is used to calculate the time difference between the first time and the second time, and to determine the time difference as the following delay between the target control stick and the target controlled object.

[0121] like Figure 8As shown, this embodiment of the invention also provides an electronic device 600, which includes: a memory 602, a processor 601, a network interface 603, and a computer program stored in the memory 602 and executable on the processor 601, wherein:

[0122] The processor 601 is used to call the computer program stored in the memory 602 and perform the following steps:

[0123] Obtain target control information;

[0124] The target controlled object is determined based on the target control information, and it is determined whether the target controlled object meets the preset safe distance condition and whether it meets the preset low-speed following condition.

[0125] If the target controlled object meets the preset safe distance condition and the preset low-speed following condition, then the target controlled object is controlled to perform low-speed following motion according to the first preset optimization parameter.

[0126] If the target controlled object meets the preset safe distance condition but does not meet the preset low-speed following condition, then the target controlled object is controlled to perform high-speed following motion according to the second preset optimization parameter.

[0127] Optionally, the target control information includes the target joystick identifier, the target joystick displacement, and the target joystick speed; the processor 601 executes the following steps: determining the target controlled object based on the target control information, and judging whether the target controlled object meets the preset safe distance condition and whether it meets the preset low-speed following condition, including:

[0128] The target controlled object is determined based on the target control lever markings, and there is a corresponding relationship between the target controlled object and the target control lever;

[0129] Get the current position of the target controlled object;

[0130] Determine whether the target controlled object meets the preset safe distance condition based on its current position;

[0131] If the target controlled object meets the preset safe distance condition, the target position of the target controlled object is determined based on the displacement of the target control lever and the current position of the target controlled object, and the current speed of the target controlled object is determined based on the speed of the target control lever.

[0132] Based on the target position and current speed of the controlled object, determine whether the controlled object meets the preset low-speed following conditions.

[0133] Optionally, the target controlled object comprises a first driving trolley and a second driving trolley, the first driving trolley and the second driving trolley are configured to jointly drive the catheter to move; when the first driving trolley and the second driving trolley are controlled simultaneously, the processor 601 performs the operation of determining whether the target controlled object satisfies the preset safety distance condition according to the current position of the target controlled object, which comprises:

[0134] determining whether the distance between the first driving trolley and the second driving trolley is not less than a first preset safety distance threshold according to the current position of the first driving trolley and the current position of the second driving trolley;

[0135] if the distance between the first driving trolley and the second driving trolley is not less than the first preset safety distance threshold, determining that the target controlled object satisfies the preset safety distance condition;

[0136] if the distance between the first driving trolley and the second driving trolley is less than the first preset safety distance threshold, determining that the target controlled object does not satisfy the preset safety distance condition.

[0137] Optionally, the target controlled object comprises a third driving trolley, the third driving trolley is configured to drive the guide wire to move; when the third driving trolley is controlled only, the processor 601 performs the operation of determining whether the target controlled object satisfies the preset safety distance condition according to the current position of the target controlled object, which comprises:

[0138] determining whether the distance between the third driving trolley and the second driving trolley is not less than a second preset safety distance threshold according to the current position of the third driving trolley;

[0139] if the distance between the third driving trolley and the second driving trolley is not less than the second preset safety distance threshold, determining that the target controlled object satisfies the preset safety distance condition;

[0140] if the distance between the third driving trolley and the second driving trolley is less than the second preset safety distance threshold, determining that the target controlled object does not satisfy the preset safety distance condition.

[0141] Optionally, when the first driving trolley, the second driving trolley and the third driving trolley are controlled simultaneously; the processor 601 performs the operation of determining whether the target controlled object satisfies the preset safety distance condition according to the current position of the target controlled object, which comprises:

[0142] determining whether the distance between the first driving trolley and the second driving trolley is not less than a first preset safety distance threshold, and whether the distance between the third driving trolley and the second driving trolley is not less than a second preset safety distance threshold according to the current position of the first driving trolley, the current position of the second driving trolley and the current position of the third driving trolley;

[0143] If the distance between the first driving trolley and the second driving trolley is not less than the first preset safety distance threshold, and the distance between the third driving trolley and the second driving trolley is not less than the second preset safety distance threshold, it is determined that the target controlled object meets the preset safety distance condition.

[0144] If the safety distance between the first driving trolley and the second driving trolley is less than the first preset safety distance threshold, and the distance between the third driving trolley and the second driving trolley is less than the second preset safety distance threshold, it is determined that the target controlled object does not meet the preset safety distance condition.

[0145] Optionally, the processor 601 performs the following steps according to the target position and the current speed of the target controlled object, to determine whether the target controlled object meets the preset low-speed following condition:

[0146] According to the target position and the current speed of the target controlled object, it is determined whether the distance between the target position of the target controlled object and the current position of the target controlled object is less than a preset distance, whether the current speed of the target controlled object is less than a preset speed, and whether the target controlled object is in a homing process.

[0147] If the distance between the target position of the target controlled object and the current position of the target controlled object is less than the preset distance, the current speed of the target controlled object is less than the preset speed, and the target controlled object is not in the homing process, it is determined that the target controlled object meets the preset low-speed following condition, otherwise, it is determined that the target controlled object does not meet the preset low-speed following condition.

[0148] Optionally, before the target controlled object is controlled to perform the low-speed following movement according to the first preset optimization parameter, or the target controlled object is controlled to perform the high-speed following movement according to the second preset optimization parameter, the processor 601 further performs the following steps:

[0149] The target operation lever pushing displacement and the first time corresponding to the target operation lever pushing displacement are obtained.

[0150] The target controlled object target displacement and the second time corresponding to the target controlled object target displacement are obtained, and the target controlled object target displacement is obtained according to the target operation lever pushing displacement.

[0151] The time difference value of the first time and the second time is calculated, and the time difference value is determined as the following time delay of the target operation lever and the target controlled object.

[0152] The electronic device 600 provided in the embodiments of the application can implement each embodiment of the catheter guide wire action control method for interventional surgery robots, and the corresponding beneficial effects. To avoid repetition, the embodiments will not be described here.

[0153] It should be noted that only the processor 601, the memory 602 and the network interface 603 with components are shown in the figure, but it should be understood that all the components shown are not required to be implemented, and more or less components can be alternatively implemented. Among them, those skilled in the art can understand that the electronic device herein is a device capable of automatically performing numerical calculation and / or information processing according to pre-set or stored instructions, and its hardware includes but is not limited to microprocessor, application specific integrated circuit (ASIC), field programmable gate array (FPGA), digital signal processor (DSP), embedded device, etc.

[0154] The electronic device can be a computing device such as a desktop computer, a notebook computer, a palm computer, and a cloud server. The electronic device can perform human-computer interaction through a keyboard, a mouse, a remote controller, a touchpad, a voice control device, etc.

[0155] The memory 602 at least includes one type of readable storage medium, including a flash memory, a hard disk, a multimedia card, a card-type memory (e.g., an SD or a DX memory, etc.), a random access memory (RAM), a static random access memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, an optical disk, etc. In some embodiments, the memory 602 can be an internal storage unit of the electronic device, such as a hard disk or a memory of the electronic device. In other embodiments, the memory 602 can also be an external storage device of the electronic device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device. Of course, the memory 602 can also include both the internal storage unit and the external storage device of the electronic device. In the present embodiment, the memory 602 is generally used to store an operating system and various application software installed on the electronic device, such as program codes of the catheter guide wire motion control method for interventional surgery robot, etc. In addition, the memory 602 can also be used to temporarily store various data that have been output or will be output.

[0156] The processor 601 may be a central processing unit (CPU), a controller, a microcontroller, a microprocessor, or other data processing chip in some embodiments. The processor 601 is generally used to control the overall operation of the electronic device. In the present embodiment, the processor 601 is configured to run program codes or process data stored in the memory 602, such as the program codes of the catheter guide wire action control method for interventional surgery robot.

[0157] The network interface 603 may include a wireless network interface or a wired network interface, and is generally used to establish a communication connection between the electronic device and other electronic devices.

[0158] The present embodiment also provides a computer readable storage medium, and the computer readable storage medium stores a computer program. The computer program is executed by the processor 601 to implement each process of the catheter guide wire action control method for interventional surgery robot provided by the present embodiment, and the same technical effects can be achieved. To avoid repetition, details are not described herein.

[0159] Those skilled in the art can understand that all or part of the processes of the catheter guide wire action control method for interventional surgery robot can be completed by a computer program instructing related hardware. The program of the catheter guide wire action control method for interventional surgery robot can be stored in a computer readable storage medium, and the program can include the processes of each embodiment when executed.

[0160] Obviously, the above-described embodiments are only some of the embodiments of the present application, rather than all the embodiments. The preferred embodiments of the present application are shown in the drawings, but do not limit the patent scope of the present application. The present application can be implemented in many different forms, and conversely, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or equivalently replace some technical features. Any equivalent structure made by using the contents of the present application specification and drawings, directly or indirectly applied to other related technical fields, is also within the scope of the present patent protection.

Claims

1. A method for controlling the movement of catheters and guidewires in an interventional surgical robot, used to control the movement of the drive trolley of the interventional surgical robot, characterized in that, The method includes: Obtain target control information; The target controlled object is determined based on the target control information, and it is determined whether the target controlled object meets the preset safe distance condition and whether it meets the preset low-speed following condition. If the target controlled object meets the preset safe distance condition and the preset low-speed following condition, then the target controlled object is controlled to perform low-speed following motion according to the first preset optimization parameters; If the target controlled object meets the preset safe distance condition but does not meet the preset low-speed following condition, then the target controlled object is controlled to perform high-speed following motion according to the second preset optimization parameter; The target controlled object includes a first driving vehicle and a second driving vehicle, or a third driving vehicle, or a first driving vehicle, a second driving vehicle and a third driving vehicle. The first driving vehicle and the second driving vehicle are used to jointly drive the catheter movement, and the third driving vehicle is used to drive the guidewire movement. Whether the preset safe distance condition is met refers to whether the distance between the target controlled objects is within the preset safe distance range; if the target controlled object includes the third driving vehicle, then the distance between the target controlled objects is the distance between the third driving vehicle and the second driving vehicle; if the target controlled object includes the first driving vehicle, the second driving vehicle, and the third driving vehicle, then the distance between the target controlled objects is the distance between the first driving vehicle and the second driving vehicle, and the distance between the third driving vehicle and the second driving vehicle. The low-speed following condition is whether the distance between the target position of the controlled object and its current position is within a preset distance range.

2. The method for controlling the movement of catheters and guidewires in interventional surgical robots according to claim 1, characterized in that, The target control information includes a target joystick identifier, a target joystick displacement, and a target joystick speed; the step of determining the target controlled object based on the target control information and judging whether the target controlled object meets the preset safe distance condition and whether it meets the preset low-speed following condition includes: The target controlled object is determined based on the target control lever identifier, and there is a corresponding relationship between the target controlled object and the target control lever; Obtain the current position of the target controlled object; Determine whether the target controlled object meets the preset safe distance condition based on its current position; If the target controlled object meets the preset safety distance condition, then the target position of the target controlled object is determined according to the displacement of the target control lever and the current position of the target controlled object, and the current speed of the target controlled object is determined according to the speed of the target control lever. Based on the target position and current speed of the target controlled object, determine whether the target controlled object meets the preset low-speed following condition.

3. The method for controlling the movement of catheters and guidewires in interventional surgical robots according to claim 2, characterized in that, The target controlled object includes a first driving trolley and a second driving trolley, which are used to jointly drive the movement of the conduit; when the first driving trolley and the second driving trolley are controlled simultaneously, the step of determining whether the target controlled object meets the preset safe distance condition based on its current position includes: Based on the current positions of the first driving vehicle and the second driving vehicle, determine whether the distance between the first driving vehicle and the second driving vehicle is not less than a first preset safe distance threshold. If the distance between the first driving vehicle and the second driving vehicle is not less than the first preset safe distance threshold, then the target controlled object is determined to meet the preset safe distance condition; If the safe distance between the first driving vehicle and the second driving vehicle is less than the first preset safe distance threshold, then the target controlled object is determined not to meet the preset safe distance condition.

4. The method for controlling the movement of catheters and guidewires in interventional surgical robots according to claim 3, characterized in that, The target controlled object also includes a third drive carriage, which is used to drive the guide wire movement; When only the third drive vehicle is controlled, determining whether the target controlled object meets the preset safe distance condition based on the current position of the target controlled object includes: Based on the current position of the third driving vehicle, determine whether the distance between the third driving vehicle and the second driving vehicle is not less than the second preset safe distance threshold. If the distance between the third driving vehicle and the second driving vehicle is not less than the second preset safe distance threshold, then the target controlled object is determined to meet the preset safe distance condition; If the distance between the third driving vehicle and the second driving vehicle is less than the second preset safe distance threshold, then the target controlled object is determined not to meet the preset safe distance condition.

5. The method for controlling the movement of catheters and guidewires in interventional surgical robots according to claim 4, characterized in that, When the first drive vehicle, the second drive vehicle, and the third drive vehicle are controlled simultaneously, the step of determining whether the target controlled object meets the preset safe distance condition based on the current position of the target controlled object includes: Based on the current positions of the first driving vehicle, the second driving vehicle, and the third driving vehicle, determine whether the distance between the first driving vehicle and the second driving vehicle is not less than the first preset safe distance threshold, and whether the distance between the third driving vehicle and the second driving vehicle is not less than the second preset safe distance threshold; If the distance between the first driving vehicle and the second driving vehicle is not less than the first preset safe distance threshold, and the distance between the third driving vehicle and the second driving vehicle is not less than the second preset safe distance threshold, then the target controlled object is determined to meet the preset safe distance condition. If the distance between the first driving vehicle and the second driving vehicle is less than the first preset safe distance threshold, and the distance between the third driving vehicle and the second driving vehicle is less than the second preset safe distance threshold, then it is determined that the target controlled object does not meet the preset safe distance condition.

6. The method for controlling the movement of catheters and guidewires in interventional surgical robots according to claim 2, characterized in that, The step of determining whether the target controlled object meets the preset low-speed following condition based on the target position and current speed of the target controlled object includes: Based on the target position and current speed of the target controlled object, determine whether the distance between the target position and the current position of the target controlled object is less than a preset distance, whether the current speed of the target controlled object is less than a preset speed, and whether the target controlled object is in the process of returning to its original position. If the distance between the target position and the current position of the target controlled object is less than the preset distance, and the current speed of the target controlled object is less than the preset speed, and the target controlled object is not in the homing process, then the target controlled object is determined to meet the preset low-speed following condition; otherwise, the target controlled object is determined not to meet the preset low-speed following condition.

7. The method for controlling the movement of catheters and guidewires in interventional surgical robots according to claim 1, characterized in that, Before controlling the target controlled object to perform high-speed following motion according to the second preset optimization parameters if the target controlled object meets the preset safe distance condition but does not meet the preset low-speed following condition, the method further includes: Multiple sets of preset parameters are obtained, and the velocity-time curve of the target controlled object is output according to the multiple sets of preset parameters. The multiple sets of preset parameters are obtained by setting on a preset parameter simulator. The maximum acceleration of the target controlled object is determined based on the velocity-time curve. The set of preset parameters corresponding to the maximum acceleration is determined as the second preset optimization parameters.

8. A catheter and guidewire motion control device for interventional surgical robots, characterized in that, The device includes: The first acquisition module is used to acquire target control information; The judgment module is used to determine the target controlled object based on the target control information, and to determine whether the target controlled object meets the preset safe distance condition and whether it meets the preset low-speed following condition. The first control module is used to control the target controlled object to perform low-speed following motion according to the first preset optimization parameters if the target controlled object meets the preset safe distance condition and the preset low-speed following condition. The second control module is used to control the target controlled object to perform high-speed following motion according to the second preset optimization parameters if the target controlled object meets the preset safe distance condition but does not meet the preset low-speed following condition. The target controlled object includes a first driving vehicle and a second driving vehicle, or a third driving vehicle, or a first driving vehicle, a second driving vehicle and a third driving vehicle. The first driving vehicle and the second driving vehicle are used to jointly drive the catheter movement, and the third driving vehicle is used to drive the guidewire movement. Whether the preset safe distance condition is met refers to whether the distance between the target controlled objects is within the preset safe distance range; if the target controlled object includes the third driving vehicle, then the distance between the target controlled objects is the distance between the third driving vehicle and the second driving vehicle; if the target controlled object includes the first driving vehicle, the second driving vehicle, and the third driving vehicle, then the distance between the target controlled objects is the distance between the first driving vehicle and the second driving vehicle, and the distance between the third driving vehicle and the second driving vehicle. The low-speed following condition is whether the distance between the target position of the controlled object and its current position is within a preset distance range.

9. An electronic device, characterized in that, include: The system includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps in the interventional surgical robot catheter and guidewire motion control method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps in the interventional surgical robot catheter and guidewire motion control method as described in any one of claims 1-7.

Images