Methods for acquiring force information of medical devices, methods and systems for controlling medical devices

Abstract

This application relates to a method for acquiring force information of a medical device, a method for controlling a medical device, and a system. The method includes: determining the position information of the medical device; acquiring real-time force information collected by a force information acquisition device; acquiring a force information detection method corresponding to the position information; and determining the target force information of the medical device through the detection method and the real-time force information. This method can accurately determine the force information of a medical device.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a method for acquiring force information of a medical device, a method for controlling a medical device, a system, a computer device, a storage medium, and a computer program product. Background Technology

[0002] The vascular interventional surgical robot system is a highly safe robotic system that assists physicians in performing catheter-based interventional procedures. It avoids serious consequences caused by physician tremors and misoperation during surgery and protects physicians from X-ray radiation. During the procedure, the physician is separated from the patient and the surgery is performed remotely. As the catheter / guidewire moves within the blood vessel, it comes into contact with the vessel wall and is subjected to various forces in different directions, such as blood flow resistance, collision forces, and frictional forces. Therefore, throughout the procedure, the robot can acquire the resistance encountered by the catheter / guidewire during the vascular intervention from its end and feed this force information back to the physician at the master end.

[0003] However, current information on the stress on catheters / guidewires is usually obtained through in vitro measurements, which makes the stress information on catheters / guidewires inaccurate. Summary of the Invention

[0004] This application provides a method for acquiring force information of a medical device, a method for controlling a medical device, a system, a computer device, a computer-readable storage medium, and a computer program product that can accurately determine the force information of a medical device.

[0005] In a first aspect, this application provides a method for obtaining force information of a medical device, the method comprising:

[0006] Determine the location information of the medical device;

[0007] Acquire real-time force information collected by the force information acquisition device;

[0008] Method for obtaining force information detection corresponding to the location information;

[0009] The target force information of the medical device is determined by the detection method and the real-time force information.

[0010] In one embodiment, determining the target force information of the medical device through the detection method and the real-time force information includes:

[0011] When the medical device is located outside the body, the real-time force information is determined as the target force information of the medical device.

[0012] When the medical device is inside the body, the algorithm corresponding to the force detection method is obtained, and the target force information of the medical device is determined based on the algorithm and the real-time force information.

[0013] In one embodiment, the step of obtaining the algorithm corresponding to the force detection method and determining the target force information of the medical device based on the algorithm and the real-time force information includes: when the medical device is located at the sheath, obtaining a pre-measured empirical value as the target force information of the medical device, or determining the target force information of the medical device based on the real-time force information of the medical device during the process of the medical device passing through the sheath.

[0014] When the medical device is located at a blood vessel, the target force information of the medical device is determined based on the curvature of the blood vessel, the real-time force information, and the force information of the medical device as it passes through the sheath.

[0015] In one embodiment, determining the target force information of the medical device based on real-time force information during the passage of the medical device through the sheath includes:

[0016] Acquire real-time force information of the medical device from the moment it enters the sheath until it leaves the sheath;

[0017] The real-time force information is calculated based on the measured real-time force information.

[0018] In one embodiment, determining the target force information of the medical device based on the curvature of the blood vessel, the real-time force information, and the force information of the medical device as it passes through the sheath includes:

[0019] When the curvature of the blood vessel is less than a first preset value, and the medical device is located at the blood vessel where the curvature is less than the first preset value, the target force information of the medical device is determined based on the real-time force information and the force information of the medical device during the process of passing through the sheath.

[0020] When the curvature of the blood vessel is greater than or equal to the first preset value, and the medical device is passing through the blood vessel with a curvature greater than or equal to the first preset value, the angle between the normal vector of the medical device and the blood vessel is obtained. Based on the real-time force information, the force information of the medical device during the process of passing through the sheath, and the angle, the target force information of the medical device is determined.

[0021] When the curvature of the blood vessel is greater than or equal to the first preset value, and the medical device is in the position after passing through the blood vessel with a curvature greater than or equal to the first preset value, the angle between the normal vector of the medical device and the blood vessel and the friction coefficient are obtained. Based on the real-time force information, the force information of the medical device during the process of passing through the sheath, the angle and the friction coefficient, the target force information of the medical device is determined.

[0022] In one embodiment, the force information acquisition device is a sensor and / or strain gauge; acquiring the real-time force information acquired by the force information acquisition device includes at least one of the following:

[0023] Acquire real-time force information from force information acquisition devices installed on medical devices at both ends of the interventional device; or

[0024] Acquire real-time force information collected by the force information acquisition device installed in the interventional device.

[0025] Secondly, this application also provides a medical device control method, the medical device control method comprising:

[0026] Acquire monitoring information of the medical device, including force information obtained according to the above-described method for acquiring force information of the medical device;

[0027] The movement of the medical device is controlled based on the monitoring information.

[0028] In one embodiment, the monitoring information further includes at least one of the following: length inserted into the body, medical image of the medical device, motion information of the medical device, and circuit information of the interventional device; controlling the motion of the medical device based on the monitoring information includes at least one of the following:

[0029] The movement of the medical device is automatically controlled based on the monitoring information; or

[0030] The monitoring information is output and is used by doctors to view it in order to manually control the movement of the medical device.

[0031] In one embodiment, automatically controlling the movement of the medical device based on the monitoring information includes:

[0032] When the monitoring information is within the normal range, continue to control the movement of the medical device according to the doctor's control instructions;

[0033] When the monitoring information is within the warning range, the movement speed of the medical device is reduced, and a first warning prompt is output;

[0034] When the monitoring information is within a dangerous range, the movement of the medical device is automatically controlled according to the corresponding protective measures, and a second early warning prompt is output.

[0035] In one embodiment, when the monitoring information is within a dangerous range, the movement of the medical device is automatically controlled according to the corresponding protective measures, and a second warning prompt is output, including at least one of the following:

[0036] When the force information exceeds the force threshold, control the medical device to retreat and output a second warning prompt; or

[0037] When the length of the medical device inside the body exceeds a first length threshold, the medical device is prevented from advancing further, and a second warning message is output; or

[0038] When the length of the medical device inserted into the body is less than a second length threshold, the medical device is prevented from retracting, and a second warning message is output; or

[0039] When the circuit information of the interventional device exceeds the circuit threshold, the medical device is controlled to stop moving, and a second warning prompt is output; or

[0040] When the motion information of the medical device exceeds the motion threshold, the medical device is controlled to stop moving, and a second warning prompt is output; or

[0041] When the distance between the medical device and the blood vessel wall is determined to be less than or equal to a preset distance based on the medical image, the medical device is controlled to retreat, and a second warning prompt is output; or

[0042] When the distance between the medical device and the target object is determined to meet the requirements based on the medical image, the movement of the medical device is controlled, and a second warning prompt is output; or

[0043] When the monitoring information is determined to be within a dangerous range based on the monitoring information and basic information through a machine learning algorithm, the control information of the medical device obtained by the machine learning algorithm is output. The control information is used to control the movement of the medical device. The basic information includes user information.

[0044] In one embodiment, controlling the medical device to retract when the force information is greater than a force threshold includes:

[0045] When the force information exceeds a force threshold, a pre-set fixed retraction distance is obtained, and the medical device is controlled to retract based on the fixed retraction distance; or

[0046] When the force information is greater than the force threshold, a pre-set retreat distance corresponding to the force information level is obtained, and the medical device is controlled to retreat according to the retreat distance of the corresponding level; or

[0047] When the force information is greater than the force threshold, the admittance control algorithm calculates the retreat distance based on the force information and the force threshold, and controls the medical device to retreat based on the calculated retreat distance.

[0048] In one embodiment, when the distance between the medical device and the target object is determined to meet the requirements based on the medical image of the medical device, controlling the movement of the medical device and outputting a second warning prompt includes:

[0049] The medical image is used to identify target objects, and the danger zone is determined based on the location of the target objects;

[0050] When the medical device enters the danger zone and the distance to the target object is greater than a first distance threshold, the speed of the medical device is reduced and / or the force threshold is reduced;

[0051] When the distance between the medical device and the target object is less than or equal to the first distance threshold, a second warning message is output.

[0052] Thirdly, this application also provides a medical device control system, including an interventional device and a medical device; the interventional device is used to collect monitoring information of the medical device and execute the medical device control method described in any of the above embodiments to control the movement of the medical device.

[0053] In one embodiment, the system further includes:

[0054] The first control terminal is used to send motion control commands to the interventional device, so that the interventional device controls the movement of the medical device according to the motion control commands, and to receive monitoring information fed back by the interventional device.

[0055] Fourthly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the method described in any of the above embodiments.

[0056] Fifthly, this application also provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the method described in any of the above embodiments.

[0057] Sixthly, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the method described in any of the above embodiments.

[0058] The aforementioned methods for acquiring force information of medical devices, methods for controlling medical devices, systems, computer equipment, storage media, and computer program products, as well as the force information acquisition device, acquire real-time force information and determine the force information detection method based on the position of the medical device. In this way, the target force information of the medical device is determined based on the detection method and the real-time force information. That is, the force information detection method is determined based on the position information, which improves the force sensing accuracy of the medical device, prevents the medical device from puncturing blood vessels due to excessive force, and improves the safety of interventional surgical robots. Attached Figure Description

[0059] Figure 1 This is a block diagram of a medical device control system in one embodiment;

[0060] Figure 2 This is a flowchart illustrating a method for obtaining force information of a medical device in one embodiment;

[0061] Figure 3 This is a schematic diagram illustrating real-time force information acquisition via a force information acquisition device in one embodiment.

[0062] Figure 4 This is a schematic diagram illustrating real-time force information acquisition using multiple force information acquisition devices in one embodiment.

[0063] Figure 5 This is a force analysis diagram of a medical device in contact with a blood vessel wall in one embodiment;

[0064] Figure 6 This is a flowchart illustrating a medical device control method in one embodiment;

[0065] Figure 7 This is a flowchart illustrating the motion control steps of a medical device in one embodiment.

[0066] Figure 8 This is a schematic diagram of the automatic control process in one embodiment;

[0067] Figure 9 This is a flowchart of a master-slave control mode in one embodiment;

[0068] Figure 10 A flowchart of the master-slave control mode in another embodiment;

[0069] Figure 11 This is a structural block diagram of a medical device force information acquisition device in one embodiment;

[0070] Figure 12 This is a structural block diagram of a medical device control device in one embodiment;

[0071] Figure 13 FIG. 1 is a diagram showing the internal structure of a computer device in one embodiment. Detailed Implementation

[0072] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0073] Specifically, combined Figure 1 As shown, Figure 1 This is a block diagram of a medical device control system in one embodiment. The medical device control system includes a first control terminal 200 and an interventional device 300. The interventional device 300 controls the movement of the medical device 400 to deliver an implant, such as a heart valve, into the human body. The interventional device 300 is used to collect monitoring information of the medical device 400 and control the movement of the medical device 400 based on the monitoring information. The interventional device 300 is also used to receive motion control commands input by the doctor sent by the first control terminal 200, so as to control the movement of the medical device 400 according to the motion control commands, and send monitoring information to the first control terminal 200 to enhance the doctor's sense of operation during the operation.

[0074] In practical applications, the first control terminal 200 serves as the doctor's control terminal, operated remotely by the doctor. The interventional device 300 acts as the slave terminal, communicating with the first control terminal 200 via a communication module. It receives motion control commands input by the doctor from the first control terminal 200 and, based on these commands, controls the medical device 400 to generate corresponding movements. The interventional device 300 also acquires various monitoring information from the medical device 400 and feeds this information back to the first control terminal 200. For example, a force feedback module can be used to feed back the force experienced by the medical device 400 to the first control terminal 200. Optionally, the force information of the medical device 400 can be fed back to the first control terminal 200 proportionally to enhance the doctor's operational awareness during surgery. In other embodiments, a display module can also be used to display various monitoring information to provide guidance to the doctor.

[0075] The first control terminal 200 and the interventional device 300 constitute a master-slave control system, thus avoiding radiation exposure for the doctor. The medical device 400 can be a catheter or guidewire, through which the interventional device 300 guides the implant to the corresponding target location, such as guiding it along a blood vessel to the heart. The interventional device 300 can also be an interventional surgical robot.

[0076] For ease of understanding, the interventional device 300 can perform multiple functions. Specifically, the interventional device 300 includes a monitoring module, a safety protection module, a communication module, a display module, and a force feedback module. The monitoring module acquires monitoring information from the medical device 400. This monitoring information may include force information; optionally, it may also include at least one of the following: the length inserted into the body, medical images of the medical device 400, motion information of the medical device 400, and circuit information of the interventional device 300. The safety protection module stores safety thresholds corresponding to various monitored information, allowing for judgment of the monitored information based on these thresholds. The communication module communicates with the first control terminal 200. This communication module can use any one or more communication methods such as TCP / IP, EtherCat, CANOpen, Bluetooth, and 5G. The display module displays the monitoring information, such as medical images, motion information of the medical device 400, and force information of the medical device 400. The motion information of the medical device 400 here may include its position and speed, etc., and is not specifically limited here. In addition, the display module can be a monitor, indicator light, voice prompt, or alarm, etc. When the display module is an indicator light, it can display green, yellow, red, etc., each with a different function. For example, green indicates normal, yellow indicates a warning, and red indicates that danger has been detected. Different colors can indicate various situations, but are not limited to these situations.

[0077] The monitoring module can be divided into different units based on the different monitoring information. For example, the force information monitoring unit is used to detect the force exerted on the medical device 400, such as the tip of a catheter or guidewire, within the human body. The specific force information can be force or torque. The length monitoring unit within the human body can monitor the length of the catheter or guidewire within the body, specifically by directly measuring the length of the guidewire entering the body or indirectly calculating the length. The image monitoring unit provides images of the catheter or guidewire within the human body. The motion information monitoring unit monitors the motion information of the medical device 400, such as the speed of the catheter or guidewire. The circuit information monitoring unit of the interventional device 300 monitors the circuit information of the interventional device 300, which can include, for example, the actual current of the interventional device 300.

[0078] The safety protection module may include an automatic protection module and an active protection module. The automatic protection module is used to automatically control the movement of the medical device 400 based on monitoring information. In other words, it monitors various monitoring information of the medical device 400 in real time and puts the interventional procedure in an automatic safety protection state based on the monitored information. The active protection module is used to output monitoring information for doctors to view and manually control the movement of the medical device 400. For example, it provides images of the guidewire inside the human body for doctors to actively judge.

[0079] The automatic protection module is used to continue controlling the movement of the medical device 400 according to the doctor's control instructions when the monitoring information is within the normal range; when the monitoring information is within the warning range, it reduces the movement speed of the medical device 400 and outputs a first warning prompt; when the monitoring information is within the danger range, it automatically controls the movement of the medical device 400 according to the corresponding protective measures and outputs a second warning prompt. For example, when the monitoring information is within the normal range, the indicator light is green. When the monitoring information enters the warning range, the indicator light turns yellow, a voice prompt is given, and the interventional device 300 enters a low-speed operation mode. The speed of this low-speed operation mode is half of the normal operating speed, but not limited to half. When the monitoring information enters the danger range, the indicator light turns red, a voice warning is given, and the interventional device 300 takes certain protective measures. Specific protective measures can be found below.

[0080] In one embodiment, such as Figure 2 As shown, a method for obtaining force information of a medical device is provided, which can be applied to... Figure 1 Taking the interventional device as an example, the following steps are included:

[0081] S202: Determine the location information of the medical device.

[0082] Specifically, the location of medical devices can be categorized as external, at the sheath, or at a blood vessel. In other embodiments, the location of the medical device can be classified in other ways, which are not specifically limited here. The location information of the medical device can be obtained through a position sensor, by observing medical images, or by manual input, which are also not specifically limited here. In practical applications, the location of the medical device, such as the tip of a guidewire or catheter, can be used as the location of the medical device for easy acquisition.

[0083] S204: Obtain real-time force information collected by the force information acquisition device.

[0084] Specifically, the force information acquisition device can be a sensor or a strain gauge. The sensor can directly acquire real-time force information, while the strain gauge can acquire the deformation of the strain gauge. The real-time force information can then be calculated based on the deformation.

[0085] In one embodiment, acquiring real-time force information collected by the force information acquisition device includes at least one of the following: acquiring real-time force information collected by force information acquisition devices installed on medical devices at both ends of the interventional device; or acquiring real-time force information collected by force information acquisition devices installed in the interventional device.

[0086] The number of these force information acquisition devices can be one or more, specifically, in combination with... Figure 3 as well as Figure 4 As shown, Figure 3 This is a schematic diagram illustrating real-time force information acquisition using multiple force information acquisition devices in one embodiment. Figure 4 This is a schematic diagram illustrating real-time force information acquisition using a force information acquisition device in one embodiment. (Combined with...) Figure 3 The medical device is a guidewire or catheter capable of linear and rotational movement. A force information acquisition device is installed at both ends of the interventional device, with one or more force information acquisition devices at each end. This allows for the calculation of mathematical statistical values ​​of the force information collected by multiple devices as real-time force information. For example, average values, weighted average values, maximum values, and minimum values ​​can be calculated, etc., without specific limitations. Furthermore, it should be noted that the number of force information acquisition devices at both ends of the interventional device can be the same or different, without specific limitations. (The text then abruptly shifts to a different topic: "Combined with...") Figure 4 The medical device is a guidewire or catheter that can perform linear and rotational movements. The force information acquisition device is installed in the interventional device, and the force information acquired by the force information acquisition device is the real-time force information.

[0087] S206: Method for detecting force information corresponding to location information.

[0088] S208: Determine the target force information of the medical device through detection methods and real-time force information.

[0089] Specifically, in this embodiment, different location information corresponds to different force information detection methods.

[0090] In one embodiment, when the medical device is located outside the body, a force information acquisition device is used to measure real-time force information, which is then determined as the target force information for the medical device. When the medical device is located inside the body, an algorithm corresponding to the force detection method is acquired, and the target force information for the medical device is determined based on the algorithm and the real-time force information.

[0091] Specifically, when the medical device is located at the sheath, the target force information is obtained through a preset first algorithm. This means either obtaining a pre-measured empirical value as the target force information for the medical device, or determining the target force information based on real-time force information as the medical device passes through the sheath. When the medical device is located at the blood vessel, the target force information is determined based on the curvature of the blood vessel, real-time force information, and force information as the medical device passes through the sheath.

[0092] The above-mentioned method for acquiring force information of medical devices involves a force information acquisition device that collects real-time force information and determines the force information detection method based on the position of the medical device. In this way, the target force information of the medical device is determined based on the detection method and the real-time force information. That is, the force information detection method is determined based on the position information, which improves the force sensing accuracy of the medical device, prevents the medical device from puncturing blood vessels due to excessive force, and improves the safety of interventional surgical robots.

[0093] In one embodiment, the target force information of the medical device is determined based on the real-time force information of the medical device as it passes through the sheath, including: acquiring various real-time force information measured from the time the medical device enters the sheath until it leaves the sheath; and calculating the real-time force information based on the measured real-time force information.

[0094] The real-time force at the sheath can be obtained through empirical values, which are based on the resistance values ​​measured experimentally when the guidewire / catheter enters the sheath. These empirical values ​​can be obtained after fixing the experimental object and various variables in the experimental scenario.

[0095] Another approach, as described in this embodiment, involves measuring the force sensor value in real time as the guidewire / catheter begins to enter the sheath during the interventional procedure, and using this value as the resistance value. n represents the force values ​​collected over n cycles. This refers to the calculated mathematical statistical value of the sheath, such as the average resistance value. The specific calculation formula is as follows:

[0096]

[0097] When the medical device is located at the blood vessel, the target force information is obtained through a preset first algorithm. That is, the target force information of the medical device is determined based on the curvature of the blood vessel, the real-time force information, and the force information of the medical device during the process of passing through the sheath. The specific limitations of the first algorithm can be found below.

[0098] In one embodiment, the target force information of the medical device is determined based on the curvature of the blood vessel, real-time force information, and force information of the medical device during its passage through the sheath. This includes: when the curvature of the blood vessel is less than a first preset value and the medical device is located at a blood vessel with a curvature less than the first preset value, the target force information of the medical device is determined based on the real-time force information and the force information of the medical device during its passage through the sheath; when the curvature of the blood vessel is greater than or equal to the first preset value and the medical device is passing through a blood vessel with a curvature greater than or equal to the first preset value, the angle between the normal vector of the medical device and the blood vessel is obtained, and the target force information of the medical device is determined based on the real-time force information, the force information of the medical device during its passage through the sheath, and the angle; when the curvature of the blood vessel is greater than or equal to the first preset value and the medical device is after passing through a blood vessel with a curvature greater than or equal to the first preset value, the angle between the normal vector of the medical device and the blood vessel and the coefficient of friction are obtained, and the target force information of the medical device is determined based on the real-time force information, the force information of the medical device during its passage through the sheath, the angle, and the coefficient of friction.

[0099] Specifically, combined Figure 5 As shown, Figure 5 This is a force analysis diagram of a medical device in contact with a blood vessel wall in one embodiment. In this embodiment, when the guidewire / catheter moves within the blood vessel and comes into contact with it, a coordinate system is established at the contact point. At this time, the guidewire / catheter has an angle α with the coordinate axis perpendicular to the blood vessel wall. The angle α can be used to calculate the normal component of the contact force between the blood vessel wall and the guidewire / catheter. A threshold F is set for this normal force. 阈值 This is to prevent it from damaging blood vessels.

[0100] Therefore, in this embodiment, the target force information is determined by the curvature of the blood vessel. Specifically, when the curvature is less than or equal to a first preset value, and the medical device is located at a blood vessel with a curvature less than the first preset value, the force information is determined based on real-time force information and the force information of the medical device during its passage through the sheath, i.e.:

[0101] F 目标受力信息 =F 实时受力信息 -F 鞘管

[0102] When the curvature of the blood vessel is greater than or equal to a first preset value, and the medical device is passing through a blood vessel with a curvature greater than or equal to the first preset value, the angle between the normal vector of the medical device and the blood vessel is obtained. Based on real-time force information, force information of the medical device during its passage through the sheath, and the angle, the target force information of the medical device is determined, that is:

[0103] F 目标受力信息 =(F 实时受力信息 -F 鞘管 cosα

[0104] When the curvature of the blood vessel is greater than or equal to a first preset value, and the medical device passes through the blood vessel with a curvature greater than or equal to the first preset value, the angle between the normal vector of the medical device and the blood vessel and the friction coefficient are obtained. Based on real-time force information, force information of the medical device during its passage through the sheath, angle α, and friction coefficient μ, the target force information of the medical device is determined. The friction coefficient can be a fixed value or set according to each individual's physical condition. The above target force information can be calculated using the following formula:

[0105] F 目标受力信息 =F 实时受力信息 -F 鞘管 -(F 实时受力信息 -F 鞘管 cosα

[0106] In the above embodiments, different methods are used to calculate the target force information at different locations, making the calculation of the target force information in blood vessels more accurate.

[0107] In one embodiment, such as Figure 6 As shown, a medical device control method is provided, which is applied to... Figure 1 Taking the interventional device as an example, the following steps are included:

[0108] 602: Acquire the collected monitoring information of the medical device, including the force information acquired by the medical device force information acquisition method according to any of the above embodiments.

[0109] Specifically, the monitoring information includes force information, and the methods for obtaining the force information can be found above and will not be specifically limited here.

[0110] 604: Control the movement of medical devices based on monitoring information.

[0111] Specifically, the movement of medical devices includes linear motion and rotational motion. It should be noted that the medical device and the implant are relatively stationary. Therefore, interventional devices can control the movement of the medical device to deliver the implant to the target location.

[0112] Controlling the movement of medical devices through monitoring information refers to controlling the linear and rotational movements of the medical devices based on monitoring information, including but not limited to movements that do not cause damage to blood vessels or the target object. In other words, interventional devices can control the movement of medical devices based on monitoring information to avoid harm to the human body.

[0113] In the above embodiments, the accuracy of force sensing at the tip of the guidewire or catheter is improved, preventing excessive force at the tip of the guidewire or catheter from puncturing blood vessels and improving the safety of the interventional surgical robot.

[0114] In one embodiment, the monitoring information further includes at least one of the following: length inserted into the body, medical image of the medical device, motion information of the medical device, and circuit information of the interventional device; controlling the motion of the medical device based on the monitoring information includes at least one of the following: automatically controlling the motion of the medical device based on the monitoring information; or outputting monitoring information for doctors to view in order to manually control the motion of the medical device.

[0115] Specifically, the length of entry into the body can refer to the length of the medical device inserted into the body. This can be obtained by directly measuring the length of the guidewire or indirectly through calculation. Medical images of the medical device can be images of the device within the body. The motion information of the medical device can refer to its actual operating speed, which can be equal to the distance the device travels per unit time. The circuit information of the interventional device can include the actual current of each motor in the interventional device during the interventional procedure.

[0116] In this embodiment, the monitoring of target force information, length into the body, medical images of medical devices, motion information of medical devices, and circuit information of interventional devices expands the range of parameters, thereby improving the safety of interventional devices.

[0117] The control of the movement of medical devices can include automatic control and active control. Automatic control refers to automatically controlling the device based on the detected monitoring information to ensure the interventional device is in a safe and protected state during the procedure. Active control, on the other hand, outputs medical images, specifically images of the catheter or guidewire within the body, allowing the physician to make an active assessment.

[0118] Specifically, combined Figure 7 As shown, Figure 7 This is a flowchart illustrating the motion control steps of a medical device in one embodiment. The monitoring module is used to acquire monitoring information, and the safety protection module is divided into an active protection unit and an automatic protection unit. The active protection unit sends medical images of the interventional surgery to the doctor for review, while the automatic protection unit is used to automatically control the motion of the medical device based on the monitoring information.

[0119] In the above embodiments, the movement of the medical device is controlled in multiple ways to ensure the safety of the medical device and thus make it more accurate.

[0120] In one embodiment, automatically controlling the movement of a medical device based on monitoring information includes: when the monitoring information is within the normal range, continuing to control the movement of the medical device according to the doctor's control instructions; when the monitoring information is within the warning range, reducing the movement speed of the medical device and outputting a first warning prompt; when the monitoring information is within the dangerous range, automatically controlling the movement of the medical device according to the corresponding protective measures and outputting a second warning prompt.

[0121] Specifically, the normal range refers to the range in which the various information in the monitoring information will not cause damage to blood vessels, the warning range refers to the range in which the various information in the monitoring information will cause damage to blood vessels, and the danger range refers to the range in which the various information in the monitoring information has already caused damage to blood vessels.

[0122] When the monitored information is force information, the normal range is smaller than the warning range, which is smaller than the danger range. When the monitored information is the distance from the blood vessel wall, the normal range is larger than the warning range, which is larger than the danger range. For other monitored information, the relationship between the normal range, warning range, and danger range can be set as needed.

[0123] In order to achieve the above control, the intervention device can preset the normal range, warning range and danger range. The normal range, warning range and danger range of different monitoring information can be the same or different, and no specific limitation is made here.

[0124] In practical applications, when the monitored information is within the normal range, the indicator light is green. When the monitored information enters the warning range, the indicator light turns yellow, a voice prompt is given, and the intervention device enters a low-speed operation mode. This low-speed operation mode operates at half the normal operating speed, but is not limited to half. When the monitored information enters the danger range, the indicator light turns red, a voice warning is given, and the intervention device takes certain protective measures.

[0125] In the above embodiments, by setting different ranges to control the medical device, the control precision of the medical device can be improved, thereby improving the safety of the surgery.

[0126] In one embodiment, when the monitoring information is within a dangerous range, the movement of the medical device is automatically controlled according to the corresponding protective measures, and a second warning prompt is output, including at least one of the following: when the force information is greater than a force threshold, the medical device is controlled to retreat and a second warning prompt is output; or when the length of the medical device entering the body is greater than a first length threshold, the medical device is controlled to not move forward and a second warning prompt is output; or when the length of the medical device entering the body is less than a second length threshold, the medical device is controlled to not retreat and a second warning prompt is output; or when the circuit information of the interventional device is greater than a circuit threshold, the medical device is controlled to stop moving and a second warning prompt is output; or when the medical device... When the motion information exceeds the motion threshold, the medical device is controlled to stop moving and a second warning prompt is output; or when the distance between the medical device and the blood vessel wall is determined to be less than or equal to a preset distance based on the medical image of the medical device, the medical device is controlled to retreat and a second warning prompt is output; or when the distance between the medical device and the target object meets the requirements based on the medical image of the medical device, the movement of the medical device is controlled and a second warning prompt is output; or when the monitoring information is determined to be within a dangerous range based on the monitoring information and basic information through a machine learning algorithm, the control information of the medical device obtained through the machine learning algorithm is output. The control information is used to control the movement of the medical device, and the basic information includes user information.

[0127] Specifically, combined Figure 8 As shown, Figure 8 This is a flowchart illustrating the automatic control process in one embodiment. In this embodiment, the automatic control may include multiple modes. Specifically, the modes may include: a control mode based on force information, a control mode based on the circuit information of the interventional device, a control mode based on the motion information of the medical device, a control mode based on the length of insertion into the human body, an image protection control mode, and an intelligent auxiliary control mode.

[0128] One of the force-based control modes is that when the force on the guidewire tip exceeds a threshold, the guidewire will retract a certain distance. This retraction distance can be a constant value, but is not limited to a constant value. It can also be calculated linearly or nonlinearly based on the difference.

[0129] The circuit information control mode of the interventional device can be determined based on the current of the guidewire or catheter movement motor. When the current is greater than the threshold, the guidewire or catheter stops moving; otherwise, it moves normally.

[0130] The motion information control mode of medical devices can be based on the movement speed of the guidewire or catheter. If the movement speed of the guidewire or catheter is greater than the preset value, the speed is reduced or the guidewire or catheter stops moving; otherwise, it moves normally.

[0131] According to the human body length control mode, if the guidewire advances beyond a threshold, the guidewire cannot advance; if the guidewire retreats beyond a threshold, it cannot retreat.

[0132] Image protection control modes can include a distance control mode between the medical device and the blood vessel wall, and an image-based control mode. The distance control mode utilizes image technology to acquire real-time distance information between the guidewire / catheter and the blood vessel wall, sets a protection distance, and retracts the guidewire if the safe distance is exceeded. Optionally, when the distance between the medical device and the target object is determined to meet the requirements based on the medical image, the movement of the medical device is controlled, and a second warning prompt is output. This includes: identifying the target object in the medical image and determining the danger zone based on the target object's position; reducing the speed and / or reducing the force threshold when the medical device enters the danger zone and the distance to the target object is greater than a first distance threshold; and outputting a second warning prompt when the distance between the medical device and the target object is less than or equal to the first distance threshold. In practical applications, the image-based control mode can involve preoperatively using machine learning (such as reinforcement learning, deep learning, or deep reinforcement learning) to identify lesions such as calcifications and hemangiomas in the image, delineating different levels of danger zones in the blood vessel, and marking the lesions on the surgical image. During the procedure, images are used in real time to determine the position of the guidewire / catheter relative to the lesion. As the guidewire / catheter moves within the blood vessel, different safety warnings are issued according to different levels of danger zones. Simultaneously, when the guidewire / catheter enters a danger zone, the speed of the interventional robot is reduced to half, but not limited to, its normal operating speed; the force threshold at the guidewire / catheter tip is reduced to half, but not limited to, the normal allowable force threshold. If the image monitoring indicates that the guidewire / catheter is about to contact the lesion, the physician is alerted to make a proactive judgment to proceed with the procedure or pause the intervention. If the image monitoring indicates that the guidewire / catheter has made contact with the lesion, the guidewire / catheter is retracted a certain distance to ensure no contact with the lesion, and then the physician makes a proactive judgment to proceed with the procedure or pause the intervention. Additionally, during the procedure, when the image identifies the lesion, augmented reality images are used to add image annotations to provide further warning.

[0133] The intelligent auxiliary protection mode can collect image information during interventional surgery; collect patient information such as height, age, and weight; and collect motion information of the interventional robot, such as position and speed. This information is then used as input to train intelligent algorithms such as deep learning, reinforcement learning, or deep reinforcement learning. The output is operational prompts or suggestions that the physician should perform at the main control panel during the interventional surgery.

[0134] In the above embodiments, multiple monitoring information is used for safety protection to prevent the guidewire / catheter tip from puncturing blood vessels due to excessive force, thereby improving the safety of interventional surgical robots.

[0135] In one embodiment, when the force information is greater than a force threshold, controlling the medical device to retreat includes: when the force information is greater than the force threshold, obtaining a pre-set fixed retreat distance, and controlling the medical device to retreat according to the fixed retreat distance; or when the force information is greater than the force threshold, obtaining a pre-set retreat distance corresponding to a level of the force information, and controlling the medical device to retreat according to the corresponding level of retreat distance; or when the force information is greater than the force threshold, calculating the retreat distance based on the force information and the force threshold using an admittance control algorithm, and controlling the medical device to retreat according to the calculated retreat distance.

[0136] Specifically, the calculation method for the back distance can include multiple methods. The back distance can be calculated based on any one of these methods or by weighting the results of multiple calculation methods.

[0137] The retraction distance can be a pre-set fixed retraction distance, that is, when the monitoring module receives the guide wire force information, when the target force information F... 目标受力信息 When F is greater than the threshold 阈值 The distance D of guidewire retraction back It is a constant value D constant .

[0138] F 目标受力信息 >F 阈值 , D back =D constant

[0139] Optionally, the retraction distance can be set according to the level of force information. That is, when the monitoring module receives the force information of the guidewire, the retraction distance of the guidewire is a different constant value when the real-time force is greater than different thresholds, specifically:

[0140]

[0141] In the formula, F1 and F2 are different constant force values, and D1 and D2 are different constant backward distances.

[0142] Optionally, the retraction distance can also be calculated using an admittance control algorithm. That is, when the monitoring module receives the guidewire force information, and the real-time force exceeds a threshold, the guidewire retraction distance is calculated using admittance control. Specifically:

[0143]

[0144] In the formula, F_threshold is a set constant force value. m, b, and k are inertial, damping, and stiffness parameters, respectively, which can be set manually. s is the Laplace operator.

[0145] In the above embodiments, calculating the backward distance in different ways can improve processing accuracy.

[0146] In one embodiment, the above-mentioned medical device control method further includes: receiving control information sent by the main control terminal, and controlling the movement of the medical device based on the control information; and feeding back the collected monitoring information to the main control terminal.

[0147] Specifically, combined Figure 9 As shown, Figure 9 This is a flowchart of a master-slave control mode in one embodiment. The physician controls a first control terminal to send control commands to the interventional device, thereby controlling the medical device to achieve the surgical objective. In practical applications, the physician operates the master control panel to send motion commands to the slave interventional surgical robot, thereby controlling the guidewire's advance, retreat, and rotation within the patient's body to perform the interventional surgery. Simultaneously, the physician acquires the force applied to the guidewire tip of the surgical robot during the interventional surgery and feeds it back to the master control panel, providing a sense of resistance or vibration, thus enabling real-time interaction with the physician.

[0148] Specifically, combined Figure 10 , Figure 10 The flowchart below illustrates a master-slave control mode in another embodiment. In this mode, the interventional device monitors the medical device via a monitoring module to obtain monitoring information. A safety protection module then judges this monitoring information and controls the medical device based on the judgment result. Optionally, the monitoring information can also be output and displayed. Specifically, the doctor operates the master control panel to send motion commands to the slave interventional surgical robot, thereby controlling the guidewire's advance, retreat, and rotation within the patient's body to perform the interventional surgery. Simultaneously, various information from the surgical robot and real-time images of the interventional surgery are acquired and fed back to the safety protection module and the doctor.

[0149] In one embodiment, the above-described medical device control method further includes: outputting monitoring information.

[0150] The output monitoring information can be provided through a display module, which can display interventional images, the position and speed of the interventional device at the distal end, and the force applied to the guidewire / catheter tip. It also includes indicator lights that can display different colors such as green, yellow, and red, each serving a different purpose. For example, green indicates normal, yellow represents a warning, and red indicates a danger signal. The different color indications can be, but are not limited to, listed situations. It also includes voice prompts and alarm functions to provide doctors with multiple information outputs.

[0151] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0152] Based on the same inventive concept, this application also provides a medical device force information acquisition device for implementing the above-mentioned medical device force information acquisition method and medical device control method. The solution provided by this device is similar to the solution described in the above-described method. Therefore, the specific limitations of one or more embodiments of the medical device force information acquisition device and medical device control device provided below can be found in the limitations of the medical device force information acquisition method and medical device control device described above, and will not be repeated here.

[0153] In one embodiment, such as Figure 11 As shown, a medical device force information acquisition device is provided, including: a position information determination module 1101, a real-time force information acquisition module 1102, a detection method acquisition module 1103, and a target force information acquisition module 1104, wherein:

[0154] The location information determination module 1101 is used to determine the location information of the medical device.

[0155] The real-time force information acquisition module 1102 is used to acquire the real-time force information collected by the force information acquisition device.

[0156] The detection method acquisition module 1103 is used to acquire the force information detection method corresponding to the position information.

[0157] The target force information acquisition module 1104 is used to determine the target force information of the medical device through detection methods and real-time force information.

[0158] In one embodiment, the target force information acquisition module 1104 is further configured to: when the medical device is located outside the body, determine the real-time force information as the target force information of the medical device; when the medical device is located at the sheath, acquire a pre-measured empirical value as the target force information of the medical device, or determine the target force information of the medical device based on the real-time force information during the process of the medical device passing through the sheath; when the medical device is located at the blood vessel, determine the target force information of the medical device based on the curvature of the blood vessel, the real-time force information, and the force information during the process of the medical device passing through the sheath.

[0159] In one embodiment, the target force information acquisition module 1104 is further configured to acquire various real-time force information measured by the medical device from the moment it enters the sheath until it leaves the sheath; and calculate the real-time force information based on the measured real-time force information.

[0160] In one embodiment, the target force information acquisition module 1104 is further configured to: when the curvature of the blood vessel is less than a first preset value and the medical device is located at the blood vessel with a curvature less than the first preset value, determine the target force information of the medical device based on real-time force information and force information of the medical device during its passage through the sheath; when the curvature of the blood vessel is greater than or equal to the first preset value and the medical device is located at the blood vessel with a curvature greater than or equal to the first preset value, acquire the angle between the normal vector of the medical device and the blood vessel, and determine the target force information of the medical device based on real-time force information, force information of the medical device during its passage through the sheath, and the angle; when the curvature of the blood vessel is greater than or equal to the first preset value and the medical device is located at the blood vessel with a curvature greater than or equal to the first preset value, acquire the angle between the normal vector of the medical device and the blood vessel and the friction coefficient, and determine the target force information of the medical device based on real-time force information, force information of the medical device during its passage through the sheath, the angle, and the friction coefficient.

[0161] In one embodiment, the force information acquisition device is a sensor and / or strain gauge; the real-time force information acquisition module 1102 is further configured to acquire real-time force information according to at least one of the following: acquire real-time force information acquired by force information acquisition devices installed on medical devices at both ends of the interventional device; or acquire real-time force information acquired by force information acquisition devices installed in the interventional device.

[0162] In one embodiment, such as Figure 12 As shown, a medical device control device is provided, including: a monitoring information acquisition module 1201 and a control module 1202, wherein:

[0163] The monitoring information acquisition module 1201 is used to acquire the collected monitoring information of the medical device, including the force information acquired according to the medical device force information acquisition method in any of the above embodiments.

[0164] The control module 1202 is used to control the movement of the medical device based on monitoring information.

[0165] In one embodiment, the monitoring information also includes at least one of the following: length inserted into the body, medical image of the medical device, motion information of the medical device, and circuit information of the interventional device; the control module 1202 is used to control the motion of the medical device in at least one of the following ways: automatically controlling the motion of the medical device based on the monitoring information; or outputting monitoring information for doctors to view in order to manually control the motion of the medical device.

[0166] In one embodiment, the control module 1202 is further configured to continue controlling the movement of the medical device according to the doctor's control instructions when the monitoring information is within the normal range; reduce the movement speed of the medical device and output a first warning prompt when the monitoring information is within the warning range; and automatically control the movement of the medical device according to the corresponding protective measures and output a second warning prompt when the monitoring information is within the dangerous range.

[0167] In one embodiment, the control module 1202 is further configured to automatically control the movement of the medical device in at least one of the following ways: when the force information is greater than a force threshold, control the medical device to retreat and output a second warning prompt; or when the length of the medical device entering the body is greater than a first length threshold, control the medical device to stop moving forward and output a second warning prompt; or when the length of the medical device entering the body is less than a second length threshold, control the medical device to stop retreating and output a second warning prompt; or when the circuit information of the interventional device is greater than a circuit threshold, control the medical device to stop moving and output a second warning prompt; or when the movement information of the medical device is greater than a movement threshold, control the medical device to stop moving and output a second warning prompt; or when the movement information of the medical device is greater than a movement threshold, control the medical device to stop moving and output a second warning prompt. When the threshold is reached, the medical device is controlled to stop moving and a second warning prompt is output; or when the distance between the medical device and the blood vessel wall is determined to be less than or equal to a preset distance based on the medical image of the medical device, the medical device is controlled to retreat and a second warning prompt is output; or when the distance between the medical device and the target object is determined to meet the requirements based on the medical image of the medical device, the movement of the medical device is controlled and a second warning prompt is output; or when the monitoring information is determined to be within a dangerous range based on the monitoring information and basic information through a machine learning algorithm, the control information of the medical device obtained through the machine learning algorithm is output. The control information is used to control the movement of the medical device, and the basic information includes user information.

[0168] In one embodiment, the control module 1202 is further configured to: obtain a pre-set fixed retreat distance when the force information is greater than the force threshold, and control the medical device to retreat according to the fixed retreat distance; or obtain a pre-set retreat distance corresponding to the level of the force information when the force information is greater than the force threshold, and control the medical device to retreat according to the retreat distance of the corresponding level; or calculate the retreat distance based on the force information and the force threshold using an admittance control algorithm when the force information is greater than the force threshold, and control the medical device to retreat according to the calculated retreat distance.

[0169] In one embodiment, the control module 1202 is further configured to identify the target object in the medical image and determine the danger zone based on the location of the target object; when the medical device enters the danger zone and the distance between it and the target object is greater than a first distance threshold, the speed of the medical device is reduced and / or the force threshold is reduced; when the distance between the medical device and the target object is less than or equal to the first distance threshold, a second warning prompt is output.

[0170] In one embodiment, the above-described apparatus further includes:

[0171] The receiving module is used to receive control information sent by the main control terminal and control the movement of the medical device based on the control information.

[0172] The feedback module is used to send the collected monitoring information back to the main control terminal.

[0173] In one embodiment, the above-described apparatus further includes:

[0174] The output module is used to output monitoring information.

[0175] The various modules in the aforementioned medical device force information acquisition device and medical device control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0176] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 13As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When executed by the processor, the computer program implements a method for acquiring force information from a medical device and a method for controlling the medical device. The display unit is used to form a visually visible image and can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0177] Those skilled in the art will understand that Figure 13 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0178] In one embodiment, a computer device is further provided, including a memory and a processor. The memory stores a computer program, and the processor implements the steps in the above method embodiments when executing the computer program.

[0179] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0180] 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.

[0181] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data shall comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0182] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this 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), magnetic 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. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0183] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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.

[0184] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A medical device control system, characterized in that, It includes interventional devices and medical devices; the interventional device is used to collect monitoring information from the medical device and perform the following steps to control the movement of the medical device: Acquire monitoring information from medical devices, including target force information; The movement of the medical device is controlled based on the monitoring information; The target force information is obtained by a force information detection method based on real-time force information collected by the force information acquisition device and the position information of the medical device; When the curvature of the blood vessel is less than a first preset value, and the medical device is located at the blood vessel with a curvature less than the first preset value, the target force information of the medical device is determined based on the real-time force information and the force information of the medical device during its passage through the sheath. When the curvature of the blood vessel is greater than or equal to the first preset value, and the medical device is in the process of passing through the blood vessel with a curvature greater than or equal to the first preset value, the angle between the normal vector of the medical device and the blood vessel is obtained. The target force information of the medical device is determined based on the real-time force information, the force information of the medical device during its passage through the sheath, and the angle. When the curvature of the blood vessel is greater than or equal to the first preset value, and the medical device is located after passing through the blood vessel with a curvature greater than or equal to the first preset value, the angle between the normal vector of the medical device and the blood vessel and the coefficient of friction are obtained. The target force information of the medical device is determined based on the real-time force information, the force information of the medical device during its passage through the sheath, the angle, and the coefficient of friction.

2. The medical device control system according to claim 1, characterized in that, When the medical device is located outside the body, the real-time force information is determined as the target force information of the medical device.

3. The medical device control system according to claim 2, characterized in that, When the medical device is located at the sheath, the target force information of the medical device is determined based on the real-time force information of the medical device during its passage through the sheath.

4. The medical device control system according to claim 3, characterized in that, The step of determining the target force information of the medical device based on the real-time force information during the process of the medical device passing through the sheath includes: Acquire real-time force information of the medical device from the moment it enters the sheath until it leaves the sheath; The target force information is calculated based on the measured real-time force information.

5. The medical device control system according to claim 1, characterized in that, The force information acquisition device is a sensor and / or strain gauge; the acquisition of real-time force information includes at least one of the following: Acquire real-time force information from force information acquisition devices installed on the medical devices at both ends of the interventional device; or Acquire real-time force information collected by the force information acquisition device installed in the interventional device.

6. The medical device control system according to claim 1, characterized in that, The monitoring information also includes at least one of the following: the length inserted into the body, medical images of the medical device, motion information of the medical device, and circuit information of the interventional device; the interventional device's control of the movement of the medical device based on the monitoring information includes at least one of the following: The movement of the medical device is automatically controlled based on the monitoring information; or The monitoring information is output and is used by doctors to view it in order to manually control the movement of the medical device.

7. The medical device control system according to claim 6, characterized in that, The automatic control of the movement of the medical device based on the monitoring information performed by the interventional device includes: When the monitoring information is within the normal range, continue to control the movement of the medical device according to the doctor's control instructions; When the monitoring information is within the warning range, the movement speed of the medical device is reduced, and a first warning prompt is output; When the monitoring information is within a dangerous range, the movement of the medical device is automatically controlled according to the corresponding protective measures, and a second early warning prompt is output.

8. The medical device control system according to claim 7, characterized in that, When the monitoring information is within a dangerous range, the interventional device automatically controls the movement of the medical device according to the corresponding protective measures and outputs a second warning prompt, including at least one of the following: When the target force information is greater than the force threshold, the medical device is controlled to retreat and a second warning prompt is output; or When the length of the medical device inside the body exceeds a first length threshold, the medical device is prevented from advancing further, and a second warning message is output; or When the length of the medical device inserted into the body is less than a second length threshold, the medical device is prevented from retracting, and a second warning message is output; or When the circuit information of the interventional device exceeds the circuit threshold, the medical device is controlled to stop moving, and a second warning prompt is output; or When the motion information of the medical device exceeds the motion threshold, the medical device is controlled to stop moving, and a second warning prompt is output; or When the distance between the medical device and the blood vessel wall is determined to be less than or equal to a preset distance based on the medical image of the medical device, the medical device is controlled to move backward and a second warning prompt is output. or When the distance between the medical device and the target object is determined to meet the requirements based on the medical image of the medical device, the movement of the medical device is controlled and a second warning prompt is output; or When the monitoring information is determined to be within a dangerous range based on the monitoring information and basic information through a machine learning algorithm, the control information of the medical device obtained by the machine learning algorithm is output. The control information is used to control the movement of the medical device. The basic information includes user information.

9. The medical device control system according to claim 8, characterized in that, The step of controlling the medical device to retract when the target force information is greater than the force threshold, performed by the interventional device, includes: When the target force information is greater than the force threshold, a pre-set fixed retreat distance is obtained, and the medical device is controlled to retreat according to the fixed retreat distance; or When the target force information is greater than the force threshold, a pre-set retreat distance corresponding to the target force information level is obtained, and the medical device is controlled to retreat according to the retreat distance of the corresponding level; or When the target force information is greater than the force threshold, the admittance control algorithm calculates the retreat distance based on the target force information and the force threshold, and controls the medical device to retreat based on the calculated retreat distance.

10. The medical device control system according to claim 8, characterized in that, When the distance between the medical device and the target object is determined to meet the requirements based on the medical image of the medical device, the interventional device controls the movement of the medical device and outputs a second warning prompt, including: The medical image is used to identify target objects, and the danger zone is determined based on the location of the target objects; When the medical device enters the danger zone and the distance to the target object is greater than a first distance threshold, the speed of the medical device is reduced and / or the force threshold of the target force information is reduced. When the distance between the medical device and the target object is less than or equal to the first distance threshold, a second warning message is output.

11. The medical device control system according to claim 1, characterized in that, The system also includes: The first control terminal is used to send motion control commands to the interventional device, so that the interventional device controls the movement of the medical device according to the motion control commands, and to receive monitoring information fed back by the interventional device.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it performs the following steps: Acquire monitoring information from medical devices, including target force information; The movement of the medical device is controlled based on the monitoring information; The target force information is obtained by a force information detection method based on real-time force information collected by the force information acquisition device and the position information of the medical device; When the curvature of the blood vessel is less than a first preset value, and the medical device is located at the blood vessel with a curvature less than the first preset value, the target force information of the medical device is determined based on the real-time force information and the force information of the medical device during its passage through the sheath. When the curvature of the blood vessel is greater than or equal to the first preset value, and the medical device is in the process of passing through the blood vessel with a curvature greater than or equal to the first preset value, the angle between the normal vector of the medical device and the blood vessel is obtained. The target force information of the medical device is determined based on the real-time force information, the force information of the medical device during its passage through the sheath, and the angle. When the curvature of the blood vessel is greater than or equal to the first preset value, and the medical device is located after passing through the blood vessel with a curvature greater than or equal to the first preset value, the angle between the normal vector of the medical device and the blood vessel and the coefficient of friction are obtained. The target force information of the medical device is determined based on the real-time force information, the force information of the medical device during its passage through the sheath, the angle, and the coefficient of friction.

13. The computer-readable storage medium according to claim 12, characterized in that, When the computer program is executed by the processor, it also performs the following steps: When the medical device is located outside the body, the real-time force information is determined as the target force information of the medical device.

14. The computer-readable storage medium according to claim 13, characterized in that, When the computer program is executed by the processor, it also performs the following steps: When the medical device is located at the sheath, the target force information of the medical device is determined based on the real-time force information of the medical device during its passage through the sheath.

15. The computer-readable storage medium according to claim 14, characterized in that, The process of determining the target force information of the medical device based on real-time force information during the passage of the medical device through the sheath, implemented by the computer program when executed by the processor, includes: Acquire real-time force information of the medical device from the moment it enters the sheath until it leaves the sheath; The target force information is calculated based on the measured real-time force information.

16. The computer-readable storage medium according to claim 12, characterized in that, The force information acquisition device involved when the computer program is executed by the processor is a sensor and / or strain gauge; the acquisition of real-time force information involved when the computer program is executed by the processor includes at least one of the following: Acquire real-time force information from force information acquisition devices installed on the medical devices at both ends of the interventional device; or Acquire real-time force information collected by the force information acquisition device installed in the interventional device.

17. The computer-readable storage medium according to claim 12, characterized in that, The monitoring information involved when the computer program is executed by the processor also includes at least one of the following: length inserted into the body, medical images of the medical device, motion information of the medical device, and circuit information of the interventional device; the control of the movement of the medical device based on the monitoring information performed by the interventional device when the computer program is executed by the processor includes at least one of the following: The movement of the medical device is automatically controlled based on the monitoring information; or The monitoring information is output and is used by doctors to view it in order to manually control the movement of the medical device.

18. The computer-readable storage medium according to claim 17, characterized in that, When the computer program is executed by the processor, the interventional device performs the automatic control of the movement of the medical device based on the monitoring information, including: When the monitoring information is within the normal range, continue to control the movement of the medical device according to the doctor's control instructions; When the monitoring information is within the warning range, the movement speed of the medical device is reduced, and a first warning prompt is output; When the monitoring information is within a dangerous range, the movement of the medical device is automatically controlled according to the corresponding protective measures, and a second early warning prompt is output.

19. The computer-readable storage medium according to claim 18, characterized in that, When the computer program is executed by the processor, the interventional device performs the action of automatically controlling the movement of the medical device according to the corresponding protective measures when the monitoring information is within a dangerous range, and outputting a second warning prompt, including at least one of the following: When the target force information is greater than the force threshold, the medical device is controlled to retreat and a second warning prompt is output; or When the length of the medical device inside the body exceeds a first length threshold, the medical device is prevented from advancing further, and a second warning message is output; or When the length of the medical device inserted into the body is less than a second length threshold, the medical device is prevented from retracting, and a second warning message is output; or When the circuit information of the interventional device exceeds the circuit threshold, the medical device is controlled to stop moving, and a second warning prompt is output; or When the motion information of the medical device exceeds the motion threshold, the medical device is controlled to stop moving, and a second warning prompt is output; or When the distance between the medical device and the blood vessel wall is determined to be less than or equal to a preset distance based on the medical image of the medical device, the medical device is controlled to move backward and a second warning prompt is output. or When the distance between the medical device and the target object is determined to meet the requirements based on the medical image of the medical device, the movement of the medical device is controlled and a second warning prompt is output; or When the monitoring information is determined to be within a dangerous range based on the monitoring information and basic information through a machine learning algorithm, the control information of the medical device obtained by the machine learning algorithm is output. The control information is used to control the movement of the medical device. The basic information includes user information.

20. The computer-readable storage medium according to claim 19, characterized in that, When the computer program is executed by the processor, the interventional device executes the action of controlling the medical device to retract when the target force information is greater than the force threshold, including: When the target force information is greater than the force threshold, a pre-set fixed retreat distance is obtained, and the medical device is controlled to retreat according to the fixed retreat distance; or When the target force information is greater than the force threshold, a pre-set retreat distance corresponding to the target force information level is obtained, and the medical device is controlled to retreat according to the retreat distance of the corresponding level; or When the target force information is greater than the force threshold, the admittance control algorithm calculates the retreat distance based on the target force information and the force threshold, and controls the medical device to retreat based on the calculated retreat distance.

21. The computer-readable storage medium according to claim 19, characterized in that, When the computer program is executed by the processor, the interventional device executes the following steps: when the distance between the medical device and the target object is determined to meet the requirements based on the medical image of the medical device, the device controls the movement of the medical device and outputs a second warning prompt, including: The medical image is used to identify target objects, and the danger zone is determined based on the location of the target objects; When the medical device enters the danger zone and the distance to the target object is greater than a first distance threshold, the speed of the medical device is reduced and / or the force threshold of the target force information is reduced. When the distance between the medical device and the target object is less than or equal to the first distance threshold, a second warning message is output.

22. The computer-readable storage medium according to claim 12, characterized in that, When the computer program is executed by the processor, it also performs the following steps: sending motion control commands to the interventional device so that the interventional device controls the movement of the medical device according to the motion control commands, and receiving monitoring information fed back by the interventional device.

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