Vascular interventional robot control system and force feedback control method

Abstract

This invention provides a vascular interventional robot control system and a force feedback control method. The system includes: a manipulator and an interventional robot; the manipulator, in cooperation with the interventional robot, performs interventional procedures on a guidewire catheter; the manipulator is used to determine position sensor feedback information and send it to the interventional robot; the interventional robot is used to perform interventional procedures on the guidewire catheter based on the position sensor feedback information, and to acquire force sensor feedback information during the interventional procedure, and send it to the manipulator; the manipulator is also used to determine a force feedback torque based on the force sensor feedback information to reproduce the force situation of the guidewire catheter during the interventional procedure. This invention achieves multi-directional degree-of-freedom force feedback during interventional procedures, conforming to the operational habits of traditional surgery.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a vascular interventional robot control system and force feedback control method. Background Technology

[0002] In traditional vascular interventional surgery, doctors are exposed to radiation for extended periods, which can cause significant harm. The placement of consumables such as guidewires and catheters within the blood vessels relies entirely on the doctor's senses and technique. The prolonged surgical process can lead to doctor fatigue, which in turn directly affects the doctor's operation and the quality of the surgery.

[0003] The main problems with the existing minimally invasive vascular intervention robot's main operating end are as follows: First, the main operating end does not conform to the operating habits of doctors when performing traditional vascular interventions; second, the main operating end cannot provide accurate force feedback reflecting the direction of advancement and twisting of the guidewire and catheter at the end, and doctors cannot accurately obtain the force situation of the guidewire and catheter in the blood vessel.

[0004] Therefore, how to provide a new solution to the above-mentioned technical problems is a technical challenge that urgently needs to be addressed in this field. Summary of the Invention

[0005] This invention provides a vascular interventional robot control system that enables force feedback on the guidewire and catheter of the interventional robot in multiple degrees of freedom during interventional procedures. This provides doctors with accurate force feedback and improves surgical quality. The system includes: an operating hand and an interventional robot; the operating hand and the interventional robot work together to perform interventional procedures on the guidewire and catheter.

[0006] The operator is used to determine the position sensor feedback information and send the position sensor feedback information to the intervention robot;

[0007] The interventional robot is used to perform interventional operations on the guidewire catheter based on the feedback information from the position sensor, and to acquire force sensor feedback information when the guidewire catheter is used for interventional operations, and to send the force sensor feedback information to the operator.

[0008] The operator is also used to determine the operator force feedback torque based on the force sensor feedback information to reproduce the force situation of the guidewire catheter during interventional procedures.

[0009] This invention also provides a force feedback control method for a vascular interventional robot control system, applied to the vascular interventional robot control system, the vascular interventional robot control system comprising: an operator, an interventional robot, the operator and the interventional robot cooperating to perform interventional operations on guidewires and catheters, the method comprising:

[0010] Obtain feedback information from the position sensor of the operator and the force sensor of the intervention robot;

[0011] The theoretical force feedback value is determined based on the feedback information from the force sensor;

[0012] Based on the feedback information from the position sensor, kinematic analysis and modeling are performed to determine the position information of the handle module;

[0013] Based on the position information of the handle module, a dynamic analysis model is performed to determine the compensation torque;

[0014] The operator's force feedback torque is determined based on the theoretical force feedback value and the compensation torque.

[0015] This invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the force feedback control method of a vascular interventional robot control system described above.

[0016] This invention provides a vascular interventional robot control system and force feedback control method, comprising: an operator and an interventional robot; the operator and the interventional robot cooperate to perform interventional operations on a guidewire catheter; the operator is used to determine position sensor feedback information and send the position sensor feedback information to the interventional robot; the interventional robot is used to perform interventional operations on the guidewire catheter according to the position sensor feedback information, and to obtain force sensor feedback information during the interventional operation of the guidewire catheter, and send the force sensor feedback information to the operator; the operator is also used to determine the operator force feedback torque according to the force sensor feedback information to reproduce the force situation of the guidewire catheter during the interventional operation. This invention utilizes position sensor feedback to control the multi-directional movement of the guidewire and catheter during interventional procedures. By designing the structure and function of the operating hand, it enables physicians to perform interventional procedures in multiple directions. The structure is simple and easy to assemble, conforming to the operating habits of physicians during traditional surgery. By controlling the operating hand, based on force sensor feedback information from the interventional robot during interventional procedures, the force situation of the guidewire and catheter within the blood vessel during interventional procedures is reproduced. This achieves force feedback on the multi-directional degrees of freedom of the guidewire and catheter of the interventional robot during interventional procedures, providing physicians with accurate force feedback and improving surgical quality. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In the drawings:

[0018] Figure 1 This is a schematic diagram of the structure and surgical scenario of a vascular interventional robot control system according to an embodiment of the present invention.

[0019] Figure 2 This is a schematic diagram of the architecture of a vascular interventional robot control system according to an embodiment of the present invention.

[0020] Figure 3 This is an overall layout diagram of the operator hand structure of a vascular interventional robot control system according to an embodiment of the present invention.

[0021] Figure 4 This is a schematic diagram of the frame structure of the slide module and handle module of a vascular intervention robot control system according to an embodiment of the present invention.

[0022] Figure 5 This is a schematic diagram of a gear and rack type slide module structure of a vascular interventional robot control system according to an embodiment of the present invention.

[0023] Figure 6 This is a schematic diagram of a ball screw-type slide module structure in a vascular interventional robot control system according to an embodiment of the present invention.

[0024] Figure 7 This is a schematic diagram of a slide module structure in the form of wire drive in a vascular interventional robot control system according to an embodiment of the present invention.

[0025] Figure 8 This is a schematic diagram of a sliding stage module in the form of a synchronous belt in a vascular interventional robot control system according to an embodiment of the present invention.

[0026] Figure 9 This is a schematic diagram of a linear motor-type slide module structure in a vascular interventional robot control system according to an embodiment of the present invention.

[0027] Figure 10 This is a structural diagram of the handle module of a vascular interventional robot control system according to an embodiment of the present invention.

[0028] Figure 11 This is a structural diagram of a gear-driven handle module in a vascular interventional robot control system according to an embodiment of the present invention.

[0029] Figure 12This is a structural diagram of a handle module in the form of synchronous belt drive in a vascular interventional robot control system according to an embodiment of the present invention.

[0030] Figure 13 This is a flowchart illustrating the operator control of a vascular interventional robot control system according to an embodiment of the present invention.

[0031] Figure 14 This is a signal filtering flowchart of a vascular interventional robot control system according to an embodiment of the present invention.

[0032] Figure 15 This is a kinematic analysis flowchart of a vascular interventional robot control system according to an embodiment of the present invention.

[0033] Figure 16 This is a flowchart of the dynamic analysis of a vascular interventional robot control system according to an embodiment of the present invention.

[0034] Figure 17 This is a flowchart illustrating the force feedback control of a vascular interventional robot control system according to an embodiment of the present invention.

[0035] Figure 18 This is a schematic diagram of a force feedback control method for a vascular interventional robot control system according to an embodiment of the present invention.

[0036] Figure 19 This is a schematic diagram of a force feedback control device for a vascular interventional robot control system according to an embodiment of the present invention.

[0037] Figure 20 This is a schematic diagram of a manual force feedback control method according to an embodiment of the present invention.

[0038] Figure 21 This is a schematic diagram of an operator force feedback control device according to an embodiment of the present invention.

[0039] Figure 22 A schematic diagram of a computer device for running a force feedback control method for a vascular interventional robot control system or a force feedback control method for an operator, as implemented in this invention. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Here, the illustrative embodiments of the present invention and their descriptions are used to explain the present invention, but are not intended to limit the present invention.

[0041] like Figure 1As shown in the illustration, an embodiment of the present invention provides a vascular interventional robot control system, including a manipulator 1 and an interventional robot 2. The manipulator 1 and interventional robot 2 are a master-slave device, with the manipulator 1 being the master and the interventional robot 2 the slave. Further, a display 3 is included, used to display vascular images and image navigation to assist the physician in performing interventional procedures. The interventional robot 2 is located in the operating room to perform interventional procedures on the patient 4. The manipulator 1 and the display 3 are located outside the operating room and are operated and controlled by the physician 5. The manipulator 1 and the interventional robot 2 are connected via communication, for example, through wired communication, wireless communication, or other connection methods. Position sensor feedback information and multi-directional motion control commands from the manipulator 1 can be sent to the interventional robot 2. The interventional robot 2 can perform interventional procedures on the guidewire catheter based on the position sensor feedback information and the multi-directional motion control commands. The interventional robot 2 acquires force sensor feedback information during the interventional procedure and then returns it to the manipulator 1. The manipulator 1 determines the force feedback torque based on the force sensor feedback information to reproduce the force situation of the guidewire catheter during the interventional procedure.

[0042] In a surgical setting, the surgeon operates the manipulator 1 outside the operating room, while the interventional robot 2 inside the operating room performs corresponding forward, backward, and rotational movements of the guidewire and catheter based on the forward, backward, and rotational movements of the manipulator 1. When operating the manipulator 1, the surgeon can sense the force exerted on the guidewire and catheter during vascular intervention, thus better controlling the interventional robot's interventional process.

[0043] This invention provides a vascular interventional robot control system, comprising: an operator 1 and an interventional robot 2. The operator 1 and the interventional robot 2 cooperate to perform interventional procedures using guidewires and catheters.

[0044] Operator 1 is used to determine the feedback information from the position sensor, control the multi-directional movement of the guidewire catheter during the interventional procedure, and send the feedback information from the position sensor to the interventional robot 2.

[0045] Interventional robot 2 is used to perform interventional operations on guidewire catheters according to multi-directional motion control based on feedback information from position sensors, and to obtain force sensor feedback information during the interventional operation of guidewire catheters and send the force sensor feedback information to operator 1.

[0046] Operator 1 is also used to determine the operator force feedback torque based on the force sensor feedback information in order to reproduce the force situation of the guidewire catheter during interventional procedures.

[0047] like Figure 2As shown, the present invention provides a vascular interventional robot control system, the architecture of which includes a doctor, an operator, an interventional robot, and a patient. Using the above system architecture, the doctor operates the operator 1, and the position sensor on the operator 1 sends feedback information to the interventional robot 2 for multi-directional motion control of the guidewire and catheter. The interventional robot 2 feeds back the force information of the guidewire and catheter measured by the force sensor to the operator 1 for force feedback control.

[0048] like Figure 3 As shown, in one embodiment, the operator 1 includes: a slide module 11, a handle module 12, and a data processing module 13. The handle module 12 is mounted on the slide module 11 and can slide linearly in the forward and backward directions relative to the slide module 11. The data processing module 13 is connected to both the slide module 11 and the handle module 12.

[0049] The slide module 11 is used to determine the position sensor feedback information of the forward and backward directions, and the data processing module 13 is used to control the movement of the guidewire catheter in the forward and backward directions during the intervention operation based on the position sensor feedback information of the forward and backward directions.

[0050] The handle module 12 is used to determine the position sensor feedback information of the rotation direction, and the data processing module 13 is also used to control the rotation direction of the guidewire catheter during the interventional operation based on the position sensor feedback information of the rotation direction.

[0051] In one embodiment, the data processing module 13 is further configured to determine the force feedback torque of the operator 1 in the forward and backward directions and the force feedback torque of the operator 1 in the rotation direction based on the force sensor feedback information.

[0052] like Figure 4 As shown, the handle module 1201 includes a handle 1201-1 and a second motor 1201-2; the slide module 1101 includes a mechanical transmission mechanism 1101-1 and a first motor 1101-2. The first motor 1101-2 and the second motor 1201-2, along with the mechanical transmission mechanism 1101-1, enable the guidewire catheter to move in two degrees of freedom: along the forward direction and in the rotational direction. A position sensor provides position information to the interventional robot 2. The structure is simple and conforms to the operating habits of doctors. The slide module, composed of the first motor 1101-2 and the mechanical transmission mechanism 1101-1 (e.g., a crank-slider mechanism), enables the operation control of the guidewire catheter along the forward direction, while the second motor 1201-2 enables the operation control of the guidewire catheter along the rotational direction. Feedback information from the position sensor is used for the control of the interventional robot 2.

[0053] like Figure 3As shown, in one embodiment, the slide module 11 includes a first mechanical transmission mechanism 111, a first position sensor 112, and a first motor 113. The handle module 12 is connected to the first mechanical transmission mechanism 111, the first mechanical transmission mechanism 111 is connected to the first motor 113, and the first motor 113 is connected to the first position sensor 112.

[0054] In response to the doctor applying a forward and backward force to the handle module 12 during intervention, the handle module 12 slides linearly on the slide module 11 relative to the forward and backward direction of the slide module 11. The linearly sliding handle module 12 drives the first mechanical transmission mechanism 111 to move. The moving first mechanical transmission mechanism 111 drives the first motor 113 to rotate in the first direction, so that the first position sensor 112 can obtain position sensor feedback information in the forward and backward direction.

[0055] The first motor 113 applies torque to the first mechanical transmission mechanism 111 along the second direction according to the force feedback torque of the operator's hand in the forward and backward directions. This torque is transmitted through the first mechanical transmission mechanism 111 to the handle module 12, so that the handle module 12, connected to the first mechanical transmission mechanism 111, can reproduce the force situation of the guidewire catheter in the forward and backward directions during interventional procedures. The first direction and the second direction of the first motor 113 are opposite in rotational direction. For example, assuming that both the first and second directions are rotational directions, if the first direction is clockwise, then the second direction is counterclockwise; if the first direction is counterclockwise, then the second direction is clockwise. Specifically, since the doctor applies a force in the forward and backward directions to the handle module 12, in order to reproduce the force situation of the guidewire catheter in the forward and backward directions during interventional procedures, it is necessary to apply a torque with the same stress value but opposite direction through the first motor and transmit it to the handle module through the first mechanical transmission mechanism 111. This allows the doctor to feel the force situation of the guidewire catheter in the forward and backward directions during interventional procedures.

[0056] In the embodiments, Figure 3 The slide module 11 is described in the form of a centered crank-slider mechanism, comprising: a first mechanical transmission mechanism 111, a first position sensor 112, and a first motor 113; a handle module 12 is connected to the first mechanical transmission mechanism 111, the first mechanical transmission mechanism 111 is connected to the first motor 113, and the first motor 113 is connected to the first position sensor 112; wherein, the first motor 113 is a rotary motor, and the first mechanical transmission mechanism 111 is a centered crank-slider mechanism, which includes a crank disc and a slider; the crank disc and the first motor 113 are driven by wire transmission, and the linear motion of the slide module 11 is used to control the forward and backward movement of the guidewire, and its manifestation is not limited to... Figure 3As shown in the diagram, it can also be combined with transmission methods such as lead screw slides, gear racks, or directly use a linear motor to provide linear motion.

[0057] During interventional procedures, when the physician plans to advance or retract the guidewire catheter, a force in the forward or backward direction is applied to the handle module 12. In response to this force, the handle module 12 slides linearly on the slide module 11 in the forward or backward direction. This linear sliding of the handle module 12 drives the first mechanical transmission mechanism 111 to move. The moving first mechanical transmission mechanism 111 drives the first motor 113 to rotate in a first direction, allowing the first position sensor 112 to acquire position sensor feedback information in the forward or backward direction. The first motor 113 then transmits the force feedback torque from the operator's hand in the forward or backward direction to the first mechanical transmission mechanism 113 in a second direction. The actuator 111 applies torque, which is transmitted to the handle module 12 via the first mechanical transmission mechanism 111. This allows the handle module 12, connected to the first mechanical transmission mechanism 111, to replicate the force on the guidewire catheter in the forward and backward directions during interventional procedures. The first direction and the second direction of the first motor 113 are opposite in rotation. At this time, since the handle module 12 replicates the force on the guidewire catheter in the forward and backward directions during interventional procedures, it simulates the force feedback of a doctor directly operating the guidewire catheter to perform interventional procedures. This is in line with the doctor's operating habits, has a simple structure, is easy to assemble, and can feel the force on the guidewire catheter during vascular intervention, thereby better controlling the interventional robot's intervention process on the guidewire catheter.

[0058] In a specific implementation of the vascular intervention robot control system provided in the embodiments of the present invention, in one embodiment, the first mechanical transmission mechanism 111 mentioned above includes at least one of the following: a heart-crank slider mechanism, a gear and rack transmission mechanism, a ball screw transmission mechanism, a wire transmission mechanism, and a synchronous belt transmission mechanism.

[0059] Specifically, such as Figure 5 As shown, a gear and rack configuration is used as the first mechanical transmission mechanism. In this configuration, the slide module 11 may include: a gear and rack transmission mechanism 111-1, a first position sensor 112, and a first motor 113; the linear motion of the slide is provided by the gear and rack as the transmission mechanism combined with the rotary motor.

[0060] like Figure 6 As shown, a ball screw is used as the first mechanical transmission mechanism. In this case, the slide module 11 may include: a gear and rack transmission mechanism 111-2, a first position sensor 112, and a first motor 113; the linear motion of the slide is provided by the ball screw as the transmission mechanism combined with the rotary motor.

[0061] like Figure 7As shown, a wire drive is used as the first mechanical transmission mechanism. In this case, the slide module 11 may include: a wire drive mechanism 111-3, a first position sensor 112, and a first motor 113; the linear motion of the slide is provided by the combination of the wire drive as the transmission mechanism and the rotary motor.

[0062] like Figure 8 As shown, a synchronous belt is used as the first mechanical transmission mechanism. In this case, the slide module 11 may include: a synchronous belt transmission mechanism 111-4, a first position sensor 112, and a first motor 113; the synchronous belt as the transmission mechanism combined with the rotary motor provides the linear motion of the slide.

[0063] The aforementioned crank-slider mechanism, gear and rack transmission mechanism, ball screw transmission mechanism, wire transmission mechanism, and synchronous belt transmission mechanism all use a first motor 113 that is a rotary motor; in another embodiment of the invention, a linear motor can also be used, and the corresponding position sensor needs to be a linear position sensor; therefore, as Figure 9 As shown, when using a linear motor, the slide module 11 may include: a linear motor 113-1 and a linear position sensor 112-1, with the linear motor directly providing the linear motion of the slide.

[0064] Figure 10 This is a structural diagram of the handle module of a vascular interventional robot control system according to an embodiment of the present invention, as shown below. Figure 10 As shown in the embodiment of the present invention, in one embodiment of the vascular interventional robot control system, the handle module 12 includes: a handle 121, a second mechanical transmission mechanism 122, a second position sensor 123, and a second motor 124; the handle 121 is connected to the second mechanical transmission mechanism 122, the second mechanical transmission mechanism 122 is connected to the second motor 124, and the second motor 124 is connected to the second position sensor 123; in response to the force applied to the handle 121 in the rotational direction by the doctor during interventional procedures, the handle 121 rotates, the rotating handle 121 drives the second mechanical transmission mechanism 122 to rotate, and the rotating second mechanical transmission mechanism 122 drives the second motor 124 to rotate, so that the second position sensor 123 obtains position sensor feedback information in the rotational direction. The second motor 124 applies torque in the opposite direction of the current rotational direction according to the force feedback torque of the operator in the rotational direction, and the torque is transmitted to the handle 121 through the second mechanical transmission mechanism 122, so that the handle 121 reproduces the force situation of the guidewire catheter in the rotational direction during interventional procedures.

[0065] In the embodiments, Figure 10The handle module 12 is described as having a direct connection between a coupling and a bearing. It includes: a handle 121, a second mechanical transmission mechanism 122, a second position sensor 123, and a second motor 124. The handle 121 is connected to the second mechanical transmission mechanism 122, the second mechanical transmission mechanism 122 is connected to the second motor 124, and the second motor 124 is connected to the second position sensor 123. The second mechanical transmission mechanism 122 is a direct connection between a coupling and a bearing, but it can also be combined with gear drives, wire drives, or other transmission mechanisms, and is not limited to... Figure 10 The form shown; the second motor 124 is a rotary motor.

[0066] During interventional procedures, when the physician plans to rotate the guidewire catheter, a rotational force is applied to the handle 121. In response to the rotational force applied to the handle 121 during the intervention, the handle 121 rotates. The rotating handle 121 drives the second mechanical transmission mechanism 122 to rotate, which in turn drives the second motor 124 to rotate, allowing the second position sensor 123 to acquire position sensor feedback information in the rotational direction. The second motor 124 applies torque in the opposite direction of the current rotational direction according to the force feedback torque from the operator in the rotational direction. This torque is transmitted to the handle 121 via the second mechanical transmission mechanism 122, so that the handle 121 replicates the force situation of the guidewire catheter in the rotational direction during the interventional procedure. Because the handle 121 replicates the force situation of the guidewire catheter in the rotation direction during interventional operations, it simulates the force feedback of doctors directly operating the guidewire catheter to perform interventional operations. It conforms to the doctor's operating habits, has a simple structure, is easy to assemble, and can feel the force situation of the guidewire catheter during vascular intervention, thereby better controlling the interventional robot's intervention process with the guidewire catheter.

[0067] In one embodiment, the second mechanical transmission mechanism 122 described above includes at least one of the following: a coupling and bearing direct-drive mechanism, a gear transmission mechanism, or a synchronous belt transmission mechanism.

[0068] Specifically, such as Figure 11 As shown, a gear transmission is used as the second mechanical transmission mechanism. In this form, the handle module 12 may include: handle 121, gear transmission mechanism 122-1, second position sensor 123, and second motor 124.

[0069] like Figure 12 As shown, a synchronous belt drive is used as the second mechanical transmission mechanism. In this form, the handle module 12 may include: handle 121, synchronous belt drive mechanism 122-2, second position sensor 123, and second motor 124.

[0070] In one embodiment, the handle 121 is provided with a forward / backward switch and a rotary switch.

[0071] The aforementioned forward / backward switch is used to send the motion control of the guidewire catheter in the forward and backward directions during the interventional operation from the data processing module 13 to the interventional robot 2 when it is pressed, so that the interventional robot 2 performs the interventional operation on the guidewire catheter according to the motion control in the forward and backward directions; and to enable the first motor 113 so that the handle module 12 can reproduce the force situation of the guidewire catheter in the forward and backward directions when the interventional operation is performed.

[0072] The aforementioned rotary switch, when pressed, sends the motion control of the guidewire catheter in the rotation direction by the data processing module 13 to the interventional robot 2, so that the interventional robot 2 performs the interventional operation on the guidewire catheter according to the motion control in the rotation direction; and enables the second motor 124 so that the handle 121 reproduces the force situation of the guidewire catheter in the rotation direction when the interventional operation is performed.

[0073] In a specific implementation of the vascular interventional robot control system provided in this embodiment, in one embodiment, when the aforementioned forward / backward switch is released, the interventional robot 2 does not move in the forward / backward direction, and the power to the first motor 113 is cut off. When the rotary switch is released, the interventional robot 2 does not move in the rotation direction, and the power to the second motor 124 is cut off. The forward / backward switch and the rotary switch are provided on the handle 121 for safety protection; the interventional robot 2 will only execute the corresponding action of the operating hand 1 when the forward / backward switch and the rotary switch are pressed; otherwise, the operating hand 1 automatically resets.

[0074] In one embodiment, the forward / backward switch and the rotary switch are pressure-sensitive switches.

[0075] The handle 121 is equipped with a forward / backward switch and a rotary switch for safety protection. The robot 2 will only perform the corresponding action of the operator 1 when the switch is pressed; otherwise, the operator 1 will automatically reset.

[0076] Figure 13 This is a flowchart illustrating the operator control of a vascular interventional robot control system according to an embodiment of the present invention. Figure 13 As shown, after power-on, a self-test is performed first, followed by motor enable and zeroing. After zeroing is completed, the force feedback hand returns to its initial position. When the doctor presses the pressure sensor switch, the force feedback hand performs force feedback control. When the doctor releases the pressure sensor switch, the force feedback hand automatically resets. When the slide module is moved to the limit, it automatically resets to its initial position.

[0077] Specifically, when the forward / backward switch is pressed, the data processing module 13 sends the motion control of the guidewire catheter in the forward and backward directions during the interventional operation to the interventional robot 2, so that the interventional robot 2 performs the interventional operation on the guidewire catheter according to the motion control in the forward and backward directions; the first motor 113 is enabled so that the handle module 12 can reproduce the force situation of the guidewire catheter in the forward and backward directions when the interventional operation is performed; when the forward / backward switch is released, the interventional robot 2 does not move in the forward and backward directions, and the first motor 113 is de-energized.

[0078] When pressed, the rotary switch sends the motion control of the guidewire catheter in the rotational direction by the data processing module 13 to the interventional robot 2, so that the interventional robot 2 performs the interventional operation on the guidewire catheter according to the motion control in the rotational direction; it also enables the second motor 124 so that the handle 121 reproduces the force situation of the guidewire catheter in the rotational direction during the interventional operation; when the rotary switch is released, the interventional robot 2 does not move in the rotational direction and the second motor 124 is de-energized.

[0079] In one embodiment, the handle module 12 has an initial position and a limit position when it slides linearly in the forward and backward directions on the slide module 11. The initial position is the position of the handle module 12 after the power-on self-test performs motor enable and zero-return processing. The limit position is the forward and backward endpoints of the handle module 12 sliding linearly on the slide module 11.

[0080] When the handle module 12 slides to the limit, the first motor 113 is enabled so that the handle module 12 is reset to the initial position.

[0081] In this embodiment, the guidewire catheter achieves two degrees of freedom of movement along the forward and rotational directions through the first motor 1101-2, the second motor 1201-2, and the mechanical transmission mechanism 1101-1. A position sensor provides position information to the interventional robot. The structure is simple and conforms to the operating habits of doctors. A slide module composed of a motor and a crank-slider mechanism enables the operation control of the guidewire catheter along the forward and rotational directions. Feedback information from the position sensor is used for the control of the interventional robot.

[0082] One embodiment of the present invention includes a slide module and a handle module. The slide module provides the doctor with motion control and force feedback for the guidewire catheter along the forward direction, with linear motion, and consists of a motor, a position sensor, and a mechanical transmission structure. The handle module provides the doctor with motion control and force feedback for the guidewire catheter along the rotational direction, with rotational motion, and consists of a motor, a position sensor, a handle, and a mechanical transmission mechanism. The slide module can be directly driven by a linear motor, or it can be a rotary motor combined with other mechanical transmission mechanisms, such as a lead screw slide, a crank-slider structure, a gear rack structure, or a linear drive, to achieve linear motion. The handle module is driven by a rotary motor and can be combined with other mechanical transmission mechanisms, such as gear transmission or linear transmission. The handle module is mounted on the slide module, and the doctor can operate the handle on the handle module to simultaneously control the forward, backward, and rotation of the guidewire catheter. The handle on the handle module has two pressure-sensitive switches: one for forward / backward movement and one for rotation. The interventional robot only executes the manipulator's actions when either the forward / backward or rotation switch is pressed; otherwise, the interventional robot does not respond to the manipulator's actions.

[0083] This invention also designs a vascular interventional force feedback control algorithm to control the operating hand motor, so as to realize the force feedback of the interventional robot on the guidewire and catheter in two degrees of freedom in the forward direction and rotation direction during the operation, thereby providing force perception for the doctor's surgical operation.

[0084] In one embodiment, the aforementioned operator is further used for:

[0085] The theoretical force feedback value determination unit is used to determine the theoretical force feedback value based on the feedback information from the force sensor.

[0086] The handle module position information determination unit is used to perform kinematic analysis and modeling based on the feedback information from the position sensor to determine the position information of the handle module;

[0087] The compensation torque determination unit is used to perform dynamic analysis modeling based on the position information of the handle module and determine the compensation torque;

[0088] The operator force feedback torque determination unit is used to determine the operator force feedback torque based on the theoretical force feedback value and the compensation torque.

[0089] In this embodiment, the determination of the operator's force feedback torque mainly includes signal filtering, kinematic analysis, dynamic analysis, and force feedback control. Signal filtering includes determining the theoretical force feedback value based on force sensor feedback information, primarily through filtering and biasing the force sensor feedback information. Kinematic analysis includes performing kinematic modeling based on position sensor feedback information to determine the handle module's position information, primarily through kinematic modeling of the transmission mechanism. Dynamic analysis includes performing dynamic modeling based on the handle module's position information to determine the compensation torque, primarily through dynamic modeling of the transmission mechanism. Force feedback control includes determining the operator's force feedback torque based on the theoretical force feedback value and the compensation torque, primarily through converting the force sensor feedback information to obtain the torque provided by the motor for force feedback.

[0090] The embodiments of the present invention accurately reproduce the forces experienced by the guidewire and catheter of the interventional robot in the operator's hand and compensate for the frictional force, damping force and gravity of the mechanical structure, providing force feedback to the doctor and improving the quality of surgery.

[0091] like Figure 14 As shown, in a specific implementation of the vascular interventional robot control system provided by the embodiments of the present invention, in one embodiment, the theoretical force feedback value determination unit is specifically used for:

[0092] Acquire force sensor feedback information for multiple cycles in a static state, calculate the average value of the force sensor feedback information for multiple cycles in a static state, and determine the static average signal value.

[0093] The force sensor feedback information for each cycle is processed by a second-order filter to determine the filtered signal value.

[0094] The theoretical force feedback value is determined based on the static average signal value and the filtered signal value.

[0095] In this embodiment, the theoretical force feedback value determination unit is mainly used to perform signal filtering, reduce noise in the original sensor signal values, reduce interference, and bias the sensor signal values ​​to near zero when the intervention robot is in a non-forced state. First, the average value of the force sensor feedback values ​​for the first N cycles in the static state is obtained as the static average signal value. Then, the signal value of each cycle is filtered by a second-order filter, and the static average signal value is subtracted to obtain the theoretical force feedback value.

[0096] In a specific implementation of the vascular interventional robot control system provided in the embodiments of the present invention, in one embodiment, the theoretical force feedback value determination unit is further configured to determine the static average signal value in the following manner:

[0097]

[0098] Among them, F s F is the static average signal value over N periods; z This is feedback information from the force sensor.

[0099] The aforementioned expression for determining the static average signal value is for illustrative purposes only. Those skilled in the art will understand that, in practice, the above formula can be modified in a certain way and other parameters or data can be added, or other specific formulas can be provided. All such variations should fall within the protection scope of this invention.

[0100] In a specific implementation of the vascular interventional robot control system provided in this embodiment of the invention, in one embodiment, the theoretical force feedback value determination unit is further configured to determine the filtered signal value in the following manner:

[0101]

[0102] Among them, F f F is the filtered signal value. z This is feedback information from the force sensor; ω c T is the cutoff frequency; sw ξ is the control period; ξ is the damping ratio.

[0103] The aforementioned expression for determining the filtered signal value is for illustrative purposes only. Those skilled in the art will understand that, in practice, the above formula can be modified in a certain way and other parameters or data can be added, or other specific formulas can be provided. All such variations should fall within the protection scope of this invention.

[0104] In a specific implementation of the vascular interventional robot control system provided in the embodiments of the present invention, in one embodiment, the theoretical force feedback value determination unit is further configured to determine the theoretical force feedback value in the following manner:

[0105] F c =F f -F z (3)

[0106] Among them, F c This is the theoretical force feedback value; F f F is the filtered signal value. z This is feedback information from the force sensor.

[0107] The aforementioned expression for determining the theoretical force feedback value is for illustrative purposes only. Those skilled in the art will understand that, in practice, the above formula can be modified in a certain way and other parameters or data can be added, or other specific formulas can be provided. All such variations should fall within the protection scope of this invention.

[0108] like Figure 15 As shown, in a specific implementation of the vascular interventional robot control system provided by the embodiments of the present invention, in one embodiment, the handle module position information determination unit is specifically used for:

[0109] Kinematic analysis and modeling were performed on the slide module and the handle module to determine the kinematic equations of the transmission mechanism.

[0110] The position information of the handle module is determined based on the feedback information from the position sensor and the kinematic equations of the transmission mechanism.

[0111] In this embodiment, the handle module position information determination unit is mainly used to perform kinematic analysis and establish motion transformation models from the slide module to the first motor and from the handle to the second motor. This model is used to transform the position sensor signals of the motors to the positions of the slide module and the end of the handle and send them to the intervention robot for position control.

[0112] The position fed back by the motor position sensor of the operator is used to solve the kinematic equation of the transmission mechanism to determine the position of the handle module, and then the position of the handle module is sent to the intervention robot to realize slave control. Figure 15 The following are the kinematic equations of the crank-connecting rod mechanism.

[0113] In a specific implementation of the vascular interventional robot control system provided in the embodiments of the present invention, in one embodiment, the handle module position information determination unit is further configured to determine the handle module position information in the following manner:

[0114]

[0115] Where x represents the position information of the handle module, indicating the horizontal distance between the first motor and the handle module; θ represents the position sensor feedback information, indicating the angle between the first connecting edge of the first motor and the centering crank-slider mechanism and the horizontal direction; γ represents the angle between the second connecting edge of the handle module and the centering crank-slider mechanism and the horizontal direction; l1 represents the length of the first connecting edge of the first motor and the centering crank-slider mechanism; l2 represents the length of the second connecting edge of the handle module and the centering crank-slider mechanism, and the first connecting edge and the second connecting edge of the centering crank-slider mechanism are movably connected.

[0116] The aforementioned expression for determining the position information of the handle module is for illustrative purposes only. Those skilled in the art will understand that, in practice, the above formula can be modified in a certain way and other parameters or data can be added, or other specific formulas can be provided. All such variations should fall within the protection scope of this invention.

[0117] Figure 16 This is a flowchart of the dynamic analysis of a vascular interventional robot control system according to an embodiment of the present invention, as shown below. Figure 16As shown, in a specific implementation of the vascular interventional robot control system provided by the embodiments of the present invention, in one embodiment, the compensation torque determination unit is specifically used for:

[0118] Dynamic analysis and modeling were performed on the handle module and slide module, and dynamic equations were constructed.

[0119] Based on the position information of the handle module, combined with the feedback information from the position sensor, the friction of the slide, the damping coefficient, the mass of the handle module, and the mass of the crank disk, the compensation torque is determined using the constructed dynamic equations.

[0120] In this embodiment, the compensation torque determination unit is mainly used for dynamic analysis, establishing dynamic equations for the transmission mechanism, and compensating for the friction, damping, and gravity of the transmission mechanism to reduce the force influence caused by the mechanical structure and provide more accurate force feedback.

[0121] The dynamic equations of the force feedback hand are established. The velocity and acceleration of the handle module can be obtained from the position of the handle module obtained from the kinematics. Then, the compensation torque required for the force feedback hand to overcome gravity, friction, damping force and other factors can be obtained from the parameters such as the position of the motor, the mass of the handle module and the damping coefficient. Figure 16 The equations of motion for the crank-connecting rod mechanism are listed below.

[0122] In a specific implementation of the vascular interventional robot control system provided in the embodiments of the present invention, in one embodiment, the compensation torque determining unit is further configured to determine the compensation torque in the following manner:

[0123]

[0124] Among them, M c To compensate for torque; x represents the position information of the handle module, indicating the horizontal distance between the first motor and the handle module; θ represents the feedback information from the position sensor, indicating the angle between the first connecting edge of the first motor and the centering crank-slider mechanism and the horizontal direction; f represents the frictional force of the slide table; damping coefficient; M represents the mass of the handle module; m represents the mass of the crank disk of the centering crank-slider mechanism; R represents the radius of the crank disk of the centering crank-slider mechanism; g represents the gravitational constant; l1 represents the first connecting edge of the first motor and the centering crank-slider mechanism; l2 represents the second connecting edge of the handle module and the centering crank-slider mechanism, and the first connecting edge and the second connecting edge of the centering crank-slider mechanism are movably connected, wherein... T c To control the cycle.

[0125] The aforementioned expression for determining the compensation torque is for illustrative purposes only. Those skilled in the art will understand that, in practice, the above formula can be modified in a certain way and other parameters or data can be added, or other specific formulas can be provided. All such variations should fall within the protection scope of this invention.

[0126] like Figure 17 As shown, in a specific implementation of the vascular interventional robot control system provided by the embodiments of the present invention, in one embodiment, the manipulator force feedback torque determination unit is specifically used for:

[0127] Based on the theoretical force feedback value, the location and velocity of the theoretical force feedback are determined using the admittance system;

[0128] Based on the theoretical force feedback position and velocity, the force feedback output torque is determined by the PD controller;

[0129] The operator's force feedback torque is determined based on the force feedback output torque and the compensation torque.

[0130] In this embodiment, the manipulator force feedback torque determination unit is mainly used for force feedback control. It uses the admittance control system to obtain the torque provided by the motor for force feedback, which is used to reproduce the feedback signal of the intervention robot and provide stable force feedback.

[0131] After filtering and biasing, the theoretical force feedback value is used to obtain the force feedback position and velocity through the admittance system. The stable force feedback output torque is then obtained through the PD controller. Finally, the compensation torques such as gravity, friction, and damping force obtained from dynamics are superimposed to obtain the motor output torque, which is the operator's force feedback torque, thus achieving precise force feedback.

[0132] In a specific implementation of the vascular interventional robot control system provided in the embodiments of the present invention, in one embodiment, the above-mentioned admittance system is represented as follows:

[0133]

[0134] Where, θ d , These are the theoretical force feedback position, velocity, and acceleration, respectively; F c M is the theoretical force feedback value. d D is the inertial parameter; d K is the damping parameter. d This is the stiffness parameter.

[0135] The aforementioned expression for the admittance system is illustrative. Those skilled in the art will understand that, in practice, the above formula can be modified in a certain way and other parameters or data can be added, or other specific formulas can be provided. All such variations should fall within the protection scope of this invention.

[0136] In a specific implementation of the vascular interventional robot control system provided in the embodiments of the present invention, in one embodiment, the PD controller is represented as follows:

[0137]

[0138] Among them, M f For force feedback, output torque; θ d , For theoretical force feedback of position and velocity; k p k is the proportionality coefficient. d is the differential coefficient.

[0139] The aforementioned expression for the PD controller is illustrative. Those skilled in the art will understand that, in practice, the above formula can be modified in a certain way and other parameters or data can be added, or other specific formulas can be provided. All such variations should fall within the protection scope of this invention.

[0140] In a specific implementation of the vascular interventional robot control system provided in the embodiments of the present invention, in one embodiment, the operator force feedback torque determination unit is further configured to determine the operator force feedback torque in the following manner:

[0141] M m =M f +M c (8)

[0142] Among them, M m For the feedback torque of the operating hand force; M c To compensate for the torque; M f It provides force feedback to output torque.

[0143] The aforementioned expression for determining the operating force feedback torque is for illustrative purposes only. Those skilled in the art will understand that, in practice, the above formula can be modified in a certain way and other parameters or data can be added, or other specific formulas can be provided. All such variations should fall within the protection scope of this invention.

[0144] This invention also provides an operator, which is used in conjunction with an interventional robot to perform interventional procedures on guidewires and catheters;

[0145] The aforementioned operator is also used for:

[0146] The position sensor feedback information is determined, and the guidewire catheter is subjected to multi-directional motion control during the interventional operation. The position sensor feedback information is sent to the interventional robot, so that the interventional robot can perform the interventional operation on the guidewire catheter according to the multi-directional motion control based on the position sensor feedback information. The force sensor feedback information during the interventional operation is obtained and sent to the operator.

[0147] It receives force sensor feedback information sent by the interventional robot and determines the force feedback torque of the operator to reproduce the force situation of the guidewire and catheter during interventional procedures.

[0148] like Figure 18 As shown, this embodiment of the invention also provides a force feedback control method for a vascular interventional robot control system, applied to the vascular interventional robot control system. The aforementioned vascular interventional robot control system includes: a manipulator, an interventional robot, and the manipulator and interventional robot cooperate to perform interventional operations using a guidewire catheter. The method includes:

[0149] Step 1801: Obtain the position sensor feedback information of the operator and the force sensor feedback information of the intervention robot;

[0150] Step 1802: Determine the theoretical force feedback value based on the force sensor feedback information;

[0151] Step 1803: Based on the feedback information from the position sensor, perform kinematic analysis and modeling to determine the position information of the handle module;

[0152] Step 1804: Based on the position information of the handle module, perform dynamic analysis and modeling to determine the compensation torque;

[0153] Step 1805: Determine the operating hand force feedback torque based on the theoretical force feedback value and the compensation torque.

[0154] In a specific implementation of the force feedback control method for a vascular interventional robot control system provided in this invention, in one embodiment, determining the theoretical force feedback value based on force sensor feedback information includes:

[0155] Acquire force sensor feedback information for multiple cycles in a static state, calculate the average value of the force sensor feedback information for multiple cycles in a static state, and determine the static average signal value.

[0156] The force sensor feedback information for each cycle is processed by a second-order filter to determine the filtered signal value.

[0157] The theoretical force feedback value is determined based on the static average signal value and the filtered signal value.

[0158] In a specific implementation of the force feedback control method for a vascular interventional robot control system provided in this embodiment of the invention, in one embodiment, the static average signal value is determined according to the above formula (1).

[0159] In a specific implementation of the force feedback control method for a vascular interventional robot control system provided in this embodiment of the invention, in one embodiment, the filtered signal value is determined according to the above formula (2).

[0160] In a specific implementation of the force feedback control method for a vascular interventional robot control system provided in this embodiment of the invention, in one embodiment, the theoretical force feedback value is determined according to the above formula (3).

[0161] In a specific implementation of the force feedback control method for a vascular interventional robot control system provided in this embodiment of the invention, in one embodiment, kinematic analysis and modeling are performed based on feedback information from the position sensor to determine the position information of the handle module, including:

[0162] Kinematic analysis and modeling were performed on the slide module and the handle module to determine the kinematic equations of the transmission mechanism.

[0163] The position information of the handle module is determined based on the feedback information from the position sensor and the kinematic equations of the transmission mechanism.

[0164] In a specific implementation of the force feedback control method for a vascular interventional robot control system provided in this embodiment of the invention, in one embodiment, the position information of the handle module is determined according to the above formula (4).

[0165] In a specific implementation of the force feedback control method for a vascular interventional robot control system provided in this invention, in one embodiment, dynamic analysis and modeling are performed based on the handle module position information to determine the compensation torque, including:

[0166] Dynamic analysis and modeling were performed on the handle module and slide module, and dynamic equations were constructed.

[0167] Based on the position information of the handle module, combined with the feedback information from the position sensor, the friction of the slide, the damping coefficient, the mass of the handle module, and the mass of the crank disk, the compensation torque is determined using the constructed dynamic equations.

[0168] In a specific implementation of the force feedback control method for a vascular interventional robot control system provided in this embodiment of the invention, in one embodiment, the compensation torque is determined according to the above formula (5).

[0169] In a specific implementation of the force feedback control method for a vascular interventional robot control system provided in this invention, in one embodiment, the operator's force feedback torque is determined based on the theoretical force feedback value and the compensation torque, including:

[0170] Based on the theoretical force feedback value, the location and velocity of the theoretical force feedback are determined using the admittance system;

[0171] Based on the theoretical force feedback position and velocity, the force feedback output torque is determined by the PD controller;

[0172] The operator's force feedback torque is determined based on the force feedback output torque and the compensation torque.

[0173] In one embodiment of the force feedback control method for a vascular interventional robot control system provided by the present invention, the admittance system is expressed according to the above formula (6).

[0174] In one embodiment of the force feedback control method for a vascular interventional robot control system provided by the present invention, the PD controller is represented by the above formula (7).

[0175] In one embodiment of the force feedback control method for a vascular interventional robot control system provided by the present invention, the force feedback torque of the operator is determined according to the above formula (8).

[0176] This invention also provides a force feedback control device for a vascular interventional robot control system. Since the principle by which this device solves the problem is similar to that of a force feedback control method for a vascular interventional robot control system, the implementation of this device can refer to the implementation of a force feedback control method for a vascular interventional robot control system; details that are repeated will not be repeated.

[0177] like Figure 19 As shown, this embodiment of the invention also provides a force feedback control device for a vascular interventional robot control system. The device is applied to the vascular interventional robot control system, which includes: a manipulator and an interventional robot. The manipulator and the interventional robot cooperate to perform interventional operations using a guidewire and catheter. The device includes:

[0178] The sensor information acquisition module 1901 is used to acquire position sensor feedback information of the operator and force sensor feedback information of the intervention robot.

[0179] Theoretical force feedback value determination module 1902 is used to determine the theoretical force feedback value based on the feedback information from the force sensor;

[0180] The handle module position information determination module 1903 is used to perform kinematic analysis and modeling based on the feedback information from the position sensor to determine the position information of the handle module;

[0181] The compensation torque determination module 1904 is used to perform dynamic analysis modeling and determine the compensation torque based on the position information of the handle module.

[0182] The operator force feedback torque determination module 1905 is used to determine the operator force feedback torque based on the theoretical force feedback value and the compensation torque.

[0183] like Figure 20 As shown, this embodiment of the invention also provides a manipulator force feedback control method, applied to a manipulator used in conjunction with an interventional robot to perform interventional procedures on a guidewire catheter. The method includes:

[0184] Step 2001: Obtain position sensor feedback information from the operator and receive force sensor feedback information from the intervention robot;

[0185] Step 2002: Determine the theoretical force feedback value based on the force sensor feedback information;

[0186] Step 2003: Based on the feedback information from the position sensor, perform kinematic analysis and modeling to determine the position information of the handle module;

[0187] Step 2004: Based on the position information of the handle module, perform dynamic analysis and modeling to determine the compensation torque;

[0188] Step 2005: Determine the operating hand force feedback torque based on the theoretical force feedback value and the compensation torque.

[0189] In one embodiment, determining the theoretical force feedback value based on force sensor feedback information includes:

[0190] Acquire force sensor feedback information for multiple cycles in a static state, calculate the average value of the force sensor feedback information for multiple cycles in a static state, and determine the static average signal value.

[0191] The force sensor feedback information for each cycle is processed by a second-order filter to determine the filtered signal value.

[0192] The theoretical force feedback value is determined based on the static average signal value and the filtered signal value.

[0193] In one embodiment, the static average signal value is determined according to the above formula (1).

[0194] In one embodiment, the filtered signal value is determined according to the above formula (2).

[0195] In one embodiment, the theoretical force feedback value is determined according to the above formula (3).

[0196] In one embodiment, kinematic analysis and modeling are performed based on feedback information from the position sensor to determine the position information of the handle module, including:

[0197] Kinematic analysis and modeling were performed on the slide module and the handle module to determine the kinematic equations of the transmission mechanism.

[0198] The position information of the handle module is determined based on the feedback information from the position sensor and the kinematic equations of the transmission mechanism.

[0199] In one embodiment, the handle module position information is determined according to the above formula (4).

[0200] In one embodiment, based on the position information of the handle module, a dynamic analysis model is performed to determine the compensation torque, including:

[0201] Dynamic analysis and modeling were performed on the handle module and slide module, and dynamic equations were constructed.

[0202] Based on the position information of the handle module, combined with the feedback information from the position sensor, the friction of the slide, the damping coefficient, the mass of the handle module, and the mass of the crank disk, the compensation torque is determined using the constructed dynamic equations.

[0203] In one embodiment, the compensation torque is determined according to the above formula (5).

[0204] In a specific implementation of the operator force feedback control method provided in this embodiment of the invention, in one embodiment, determining the operator force feedback torque based on the theoretical force feedback value and the compensation torque includes:

[0205] Based on the theoretical force feedback value, the location and velocity of the theoretical force feedback are determined using the admittance system;

[0206] Based on the theoretical force feedback position and velocity, the force feedback output torque is determined by the PD controller;

[0207] The operator's force feedback torque is determined based on the force feedback output torque and the compensation torque.

[0208] In one embodiment, the admittance system described above is represented by the above formula (6).

[0209] In one embodiment, the PD controller described above is represented by the above formula (7).

[0210] In one embodiment, the operating force feedback torque is determined according to the above formula (8).

[0211] This invention also provides a hand force feedback control device. Since the principle behind this device is similar to that of a hand force feedback control method, its implementation can be found in the implementation of a hand force feedback control method; details that are repeated will not be elaborated upon.

[0212] like Figure 21As shown, this embodiment of the invention also provides a hand force feedback control device, which is applied to an operator's hand and includes:

[0213] The sensor information acquisition and reception module 2101 is used to acquire position sensor feedback information of the operator and receive force sensor feedback information sent by the intervention robot.

[0214] Theoretical force feedback value determination module 2102 is used to determine the theoretical force feedback value based on the feedback information from the force sensor;

[0215] The handle module position information determination module 2103 is used to perform kinematic analysis and modeling based on the feedback information from the position sensor to determine the position information of the handle module;

[0216] The compensation torque determination module 2104 is used to perform dynamic analysis modeling based on the position information of the handle module to determine the compensation torque;

[0217] The operator force feedback torque determination module 2105 is used to determine the operator force feedback torque based on the theoretical force feedback value and the compensation torque.

[0218] The aforementioned force feedback control method for a vascular interventional robot control system or a force feedback control method for an operator mainly includes signal filtering, kinematic analysis, dynamic analysis, and force feedback control. Signal filtering: The signal values ​​from the interventional robot's force sensor are filtered and biased; Kinematic analysis: Kinematic analysis and modeling of the transmission mechanism are performed; Dynamic analysis: Dynamic analysis and modeling of the transmission mechanism are performed; Force feedback control: The force sensor signal from the interventional robot is converted to obtain the torque provided by the motor for force feedback.

[0219] Signal filtering is used to reduce noise in the raw values ​​of sensor signals, reduce interference, and bias the sensor signal values ​​to near zero when the intervention robot is in a non-stressed state.

[0220] Kinematic analysis establishes motion transformation models from the slide module to the first motor and from the handle to the second motor, which are used to transform the position sensor signals of the motors to the positions of the slide module and the end of the handle and send them to the intervention robot for position control.

[0221] Dynamic analysis establishes dynamic equations for the transmission mechanism, which are used to compensate for friction, damping, and gravity in the transmission mechanism, thereby reducing the force influence caused by the mechanical structure and providing more accurate force feedback.

[0222] Force feedback control uses an admittance control system to obtain the torque provided by the motor for force feedback, which is used to reproduce the feedback signal of the intervention robot and provide stable force feedback.

[0223] The embodiments of the present invention accurately reproduce the forces acting on the catheter of the interventional robot in the operating hand and compensate for the friction, damping and gravity forces of the mechanical structure, providing force feedback to the doctor and improving the quality of the operation.

[0224] This invention utilizes two motors and a mechanical transmission mechanism to achieve two degrees of freedom for the guidewire and catheter: movement in the forward and rotational directions. A position sensor provides positional information to the interventional robot's slave-end operating device. The structure is simple and conforms to the surgeon's operating habits. A slide module composed of a first motor and a crank-slider mechanism controls the guidewire and catheter's movement in the forward direction, while the second motor controls its movement in the rotational direction. Feedback from the position sensor is used to control the interventional robot's slave-end operating device. Controlling the operating hand motor provides force feedback to the interventional robot on the slave-end guidewire and catheter in both directions of freedom during operation, thus providing force perception for the surgeon's surgical procedures.

[0225] Figure 22 A schematic diagram of a computer device for running a force feedback control method for a vascular interventional robot control system or a force feedback control method for an operator, as described in this invention, is shown below. Figure 22 As shown, this embodiment of the invention also provides a computer device 2200, including a memory 2210, a processor 2220, and a computer program 2230 stored in the memory and executable on the processor. When the processor executes the computer program, it implements the force feedback control method of a vascular interventional robot control system or the force feedback control method of an operator.

[0226] This invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the force feedback control method for a vascular interventional robot control system or the force feedback control method for an operator.

[0227] This invention also provides a computer program product, which includes a computer program that, when executed by a processor, implements the force feedback control method for a vascular interventional robot control system or the force feedback control method for an operator.

[0228] In summary, the embodiments of the present invention provide a vascular interventional robot control system, an operator, and a control method, comprising: an operator and an interventional robot; the operator and the interventional robot cooperate to perform interventional operations on a guidewire catheter; the operator is used to determine position sensor feedback information, perform multi-directional motion control on the guidewire catheter during the interventional operation, and send the position sensor feedback information to the interventional robot; the interventional robot is used to perform interventional operations on the guidewire catheter according to the position sensor feedback information and multi-directional motion control, obtain force sensor feedback information during the interventional operation, and send it to the operator; the operator is also used to determine the operator force feedback torque according to the force sensor feedback information to reproduce the force situation of the guidewire catheter during the interventional operation. This invention utilizes position sensor feedback to control the multi-directional movement of the guidewire and catheter during interventional procedures. By designing the structure and function of the operating hand, it enables physicians to perform interventional procedures in multiple directions. The structure is simple and easy to assemble, conforming to the operating habits of physicians during traditional surgery. By controlling the operating hand, based on force sensor feedback information from the interventional robot during interventional procedures, the force situation of the guidewire and catheter within the blood vessel during interventional procedures is reproduced. This achieves force feedback on the multi-directional degrees of freedom of the guidewire and catheter of the interventional robot during interventional procedures, providing physicians with accurate force feedback and improving surgical quality.

[0229] This invention utilizes two motors and a mechanical transmission mechanism to achieve two degrees of freedom for the guidewire and catheter: movement in the forward and rotational directions. A position sensor provides positional information to the interventional robot. The structure is simple and conforms to the surgeon's operating habits. A slide module consisting of a first motor and a crank-slider mechanism controls the guidewire and catheter's movement in the forward direction, while the second motor controls their rotation. Feedback from the position sensor is used to control the interventional robot. Controlling the operating hand motor enables force feedback from the interventional robot to the guidewire and catheter in both directions of freedom during operation, thus providing force perception for the surgeon's procedures.

[0230] The acquisition, storage, use, and processing of data in this application comply with the relevant provisions of national laws and regulations. All types of data, including personal identity data, operational data, and behavioral data related to individuals, customers, and groups, obtained in this application have been authorized.

[0231] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0232] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0233] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0234] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0235] The above-described specific embodiments further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is merely a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention.

Claims

1. A vascular interventional robot control system, characterized in that, include: A manipulator and an interventional robot; the manipulator and the interventional robot work together to perform interventional procedures using guidewires and catheters. The operator is used to determine the position sensor feedback information and send the position sensor feedback information to the intervention robot; The interventional robot is used to perform interventional operations on the guidewire catheter based on the feedback information from the position sensor, and to acquire force sensor feedback information when the guidewire catheter is used for interventional operations, and to send the force sensor feedback information to the operator. The operating hand is also used to determine the force feedback torque of the operating hand based on the feedback information of the force sensor in order to reproduce the force situation of the guidewire catheter during the intervention operation; The operator also includes: The theoretical force feedback value determination unit is used to determine the theoretical force feedback value based on the feedback information from the force sensor. The handle module position information determination unit is used to perform kinematic analysis and modeling based on the feedback information from the position sensor to determine the position information of the handle module; The compensation torque determination unit is used to perform dynamic analysis modeling based on the position information of the handle module and determine the compensation torque; The operator force feedback torque determination unit is used to determine the force feedback output torque based on the theoretical force feedback value, and to determine the operator force feedback torque based on the force feedback output torque and the compensation torque.

2. The vascular interventional robot control system as described in claim 1, characterized in that, The operator includes: a slide module, a handle module, and a data processing module; the handle module is mounted on the slide module; the data processing module is connected to both the slide module and the handle module. The slide module is used to determine the position sensor feedback information for the forward and backward directions; The handle module is used to determine the position sensor feedback information for the rotation direction. The data processing module is used to control the motion of the guidewire catheter in the forward and backward directions and / or the rotation direction during the interventional procedure based on the feedback information from the position sensor in the forward and backward directions and / or the feedback information from the position sensor in the rotation direction.

3. The vascular interventional robot control system as described in claim 2, characterized in that, The data processing module is also used for: Based on the feedback information from the force sensor, the force feedback torque of the operator in the forward and backward directions and the force feedback torque in the rotation direction are determined.

4. The vascular interventional robot control system as described in claim 3, characterized in that, The slide module includes a first mechanical transmission mechanism, a first position sensor, and a first motor; the handle module is connected to the first mechanical transmission mechanism, the first mechanical transmission mechanism is connected to the first motor, and the first motor is connected to the first position sensor. In response to the intervention operation, a forward and backward force is applied to the handle module to cause the handle module to slide linearly on the slide module relative to the forward and backward direction of the slide module. The linear sliding of the handle module drives the first mechanical transmission mechanism to move. The first mechanical transmission mechanism drives the first motor to rotate in a first direction so that the first position sensor can obtain position sensor feedback information in the forward and backward direction. The first motor applies torque to the first mechanical transmission mechanism along the second direction according to the force feedback torque of the operator in the forward and backward directions. The torque is transmitted to the handle module through the first mechanical transmission mechanism so that the handle module can reproduce the force situation of the guidewire catheter in the forward and backward directions when performing interventional operations. The first direction and the second direction of the first motor are opposite in the rotation direction.

5. The vascular interventional robot control system as described in claim 4, characterized in that, The handle module includes: a handle, a second mechanical transmission mechanism, a second position sensor, and a second motor; the handle is connected to the second mechanical transmission mechanism, the second mechanical transmission mechanism is connected to the second motor, and the second motor is connected to the second position sensor. In response to the rotational force applied to the handle of the handle module during the intervention operation, the handle rotates, and the rotational motion of the handle drives the second mechanical transmission mechanism to rotate. The second mechanical transmission mechanism drives the second motor to rotate, so that the second position sensor can obtain position sensor feedback information in the rotational direction. The second motor applies torque in the opposite direction of the current rotational motion according to the force feedback torque of the main end operating hand in the rotational direction. The torque is transmitted to the handle through the second mechanical transmission mechanism so that the handle can reproduce the force situation of the guidewire catheter in the rotational direction when performing interventional operations.

6. The vascular interventional robot control system as described in claim 5, characterized in that, The handle is equipped with a forward / backward switch and a rotary switch; When the forward / backward switch is pressed, the data processing module sends the motion control of the guidewire catheter in the forward and backward directions during the interventional operation to the interventional robot, so that the interventional robot performs the interventional operation on the guidewire catheter according to the motion control in the forward and backward directions. Enable the first motor so that the handle module can reproduce the force conditions of the guidewire catheter in the forward and backward directions during interventional procedures; When the rotary switch is pressed, the data processing module sends the motion control of the guidewire catheter in the rotation direction during the interventional operation to the interventional robot, so that the interventional robot can perform the interventional operation on the guidewire catheter according to the motion control in the rotation direction. The second motor is enabled so that the handle replicates the force exerted on the guidewire catheter in the direction of rotation during interventional procedures.

7. The vascular interventional robot control system as described in claim 6, characterized in that, The handle module has an initial position and a limit when it slides linearly in the forward and backward directions on the slide module; the initial position is the position of the handle module after the power-on self-test performs motor enable and zero-return processing; the limit is the forward end point and the backward end point of the handle module sliding linearly on the slide module. When the handle module slides to the limit, the handle module is reset to the initial position.

8. The vascular interventional robot control system as described in claim 2, characterized in that, Theoretical force feedback value determination unit, specifically used for: Acquire force sensor feedback information for multiple cycles in a static state, calculate the average value of the force sensor feedback information for multiple cycles in a static state, and determine the static average signal value. The force sensor feedback information for each cycle is processed by a second-order filter to determine the filtered signal value. The theoretical force feedback value is determined based on the static average signal value and the filtered signal value.

9. The vascular interventional robot control system as described in claim 2, characterized in that, The handle module position information determination unit is specifically used for: Kinematic analysis and modeling were performed on the slide module and the handle module to determine the kinematic equations of the transmission mechanism. The position information of the handle module is determined based on the feedback information from the position sensor and the kinematic equations of the transmission mechanism.

10. The vascular interventional robot control system as described in claim 9, characterized in that, The handle module position information determining unit is also used to determine the handle module position information in the following manner: Where x represents the position information of the handle module, indicating the horizontal distance between the first motor and the handle module; θ represents the position sensor feedback information, indicating the angle between the first connecting edge of the first motor and the centering crank-slider mechanism and the horizontal direction; γ represents the angle between the second connecting edge of the handle module and the centering crank-slider mechanism and the horizontal direction; l1 represents the first connecting edge of the first motor and the centering crank-slider mechanism; l2 represents the second connecting edge of the handle module and the centering crank-slider mechanism, and the first connecting edge and the second connecting edge of the centering crank-slider mechanism are movably connected.

11. The vascular interventional robot control system as described in claim 2, characterized in that, The compensation torque determination unit is specifically used for: Dynamic analysis and modeling were performed on the handle module and slide module, and dynamic equations were constructed. Based on the position information of the handle module, combined with the feedback information from the position sensor, the friction of the slide, the damping coefficient, the mass of the handle module, and the mass of the crank disk, the compensation torque is determined using the constructed dynamic equations.

12. The vascular interventional robot control system as described in claim 11, characterized in that, The compensation torque determining unit is also used to determine the compensation torque in the following manner: Among them, M c To compensate for torque; x is the position information of the handle module, representing the horizontal distance between the first motor and the handle module; θ is the feedback information from the position sensor, representing the angle between the first connecting edge of the first motor and the centering crank-slider mechanism and the horizontal direction; f is the friction force of the slide table; damping coefficient; M is the mass of the handle module; m is the mass of the crank disk of the centering crank-slider mechanism; R is the radius of the crank disk of the centering crank-slider mechanism; g is the gravitational constant; * indicates multiplication; l1 is the first connecting edge of the first motor and the centering crank-slider mechanism; l2 is the second connecting edge of the handle module and the centering crank-slider mechanism, and the first connecting edge and the second connecting edge of the centering crank-slider mechanism are movably connected, wherein... T is the control period.

13. The vascular interventional robot control system as described in claim 2, characterized in that, The hand force feedback torque determination unit is specifically used for: Based on the theoretical force feedback value, the location and velocity of the theoretical force feedback are determined using the admittance system; Based on the theoretical force feedback position and velocity, the force feedback output torque is determined by the PD controller; The operator's force feedback torque is determined based on the force feedback output torque and the compensation torque.

14. The vascular interventional robot control system as described in claim 13, characterized in that, The admittance system is represented as follows: Where, θ d , These are the theoretical force feedback position, velocity, and acceleration, respectively; F c M is the theoretical force feedback value. d D is the inertial parameter; d K is the damping parameter. d This is the stiffness parameter.

15. The vascular interventional robot control system as described in claim 13, characterized in that, The PD controller is represented as follows: Among them, M f For force feedback, output torque; θ d , For theoretical force feedback of position and velocity; k p k is the proportionality coefficient. d is the differential coefficient.

16. The vascular interventional robot control system as described in claim 13, characterized in that, The operator force feedback torque determination unit is also used to determine the operator force feedback torque in the following manner: M m =M f +M c Among them, M m For operating hand force feedback torque; M c To compensate for the torque; M f It provides force feedback to output torque.

17. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which, when executed by a processor, implements a force feedback control method for a vascular interventional robot control system. The force feedback control method for the vascular interventional robot control system is applied to the vascular interventional robot control system, which includes: a manipulator and an interventional robot. The manipulator and the interventional robot cooperate to perform interventional procedures using guidewires and catheters. The method includes: Obtain feedback information from the position sensor of the operator and the force sensor of the intervention robot; The theoretical force feedback value is determined based on the feedback information from the force sensor. Based on the feedback information from the position sensor, kinematic analysis and modeling are performed to determine the position information of the handle module; Based on the position information of the handle module, a dynamic analysis model is performed to determine the compensation torque; The force feedback output torque is determined based on the theoretical force feedback value, and the operator's force feedback torque is determined based on the force feedback output torque and the compensation torque.

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