A force control method and system, and a navigation method for a duct system.

Abstract

This application provides a force-sensing control method and system, and a navigation method for a catheter system. The method includes: acquiring a real-time advancement section position point during the process of an operator controlling the advancement of a catheter assembly towards a target tissue via a master end; comparing the real-time advancement section position point with the center point of a pre-planned advancement path section; generating a center approach force according to the principle of bringing the real-time advancement section position point closer to the center point of the pre-planned advancement path section; and feeding the center approach force back onto the master end as a guiding force applied to the operator. This solution solves the problem of existing methods that, due to the lack of force-sensing guidance during advancement, easily lead to deviations in the advancement direction and cause injury to the patient, effectively reducing the probability of risks during surgery.

Description

Technical Field

[0001] This application belongs to the field of medical device technology, and in particular relates to a force control method and system, and a navigation method for catheter systems. Background Technology

[0002] Existing catheterization robot products are generally based on endoscopic images and position and shape sensing for pure visual guidance. That is, for the operator, the operation is guided by displaying the corresponding operation image in the endoscopic image.

[0003] However, due to the influence of line of sight and viewing angle, misjudgment is easily made, which will bring risks to the operation process.

[0004] There is currently no effective solution to the above problems. Summary of the Invention

[0005] The purpose of this application is to provide a force control method and system, and a navigation method for a catheter system, which can safely control the process of surgery based on a catheter robot and reduce the probability of improper operation.

[0006] This application provides a force control method and system, and a navigation method for a conduit system, which is implemented as follows:

[0007] A force control method, comprising:

[0008] During the process of the operator controlling the catheter assembly to advance towards the target tissue via the main handpiece, the real-time position of the advancement section is obtained;

[0009] The real-time propulsion section position is compared with the center point of the pre-planned propulsion path section;

[0010] A center-approaching force is generated based on the principle of bringing the real-time propulsion section position point closer to the center point of the pre-planned propulsion path section;

[0011] The center proximity force feedback is applied to the main handpiece as a guiding force for the operator.

[0012] In one embodiment, the method further includes: during the process of the operator controlling the catheter assembly to act on the target tissue through the main hand end, acquiring the first contact force between the catheter assembly and the target tissue at a first time and the second contact force at a second time, as well as the positional deviation between the first time and the second time.

[0013] The stiffness data of the target tissue are determined based on the first contact force, the second contact force, and the positional deviation.

[0014] Obtain the force value applied by the operator to the main hand end;

[0015] The displacement of the main hand end is calculated based on the stiffness data and the force value.

[0016] The displacement is applied to the main hand end as a stiff tactile sensation applied to the operator.

[0017] In one embodiment, the method further includes: acquiring the contact force between the catheter assembly and the target tissue when the operator controls the catheter assembly to act on the target tissue via the main hand end;

[0018] The contact force is converted into a feedback force;

[0019] The feedback force is applied to the main handpiece as an interactive force applied to the operator.

[0020] In one implementation, converting the contact force into a feedback force includes:

[0021] The contact force is converted into torque at each degree of freedom joint of the main hand end;

[0022] The torque at each degree of freedom joint of the main hand end is used as the feedback force and applied to each degree of freedom joint of the main hand end.

[0023] In one embodiment, obtaining the contact force between the catheter assembly and the target tissue includes:

[0024] Obtain the actual strain at each measuring point of the conduit assembly;

[0025] Based on the actual strain at each measuring point, the actual spatial shape of the conduit assembly is reconstructed;

[0026] The actual spatial shape is compared with the shape of the catheter assembly in free space to determine the external load force exerted on the catheter assembly by the target tissue;

[0027] The external load force is used as the contact force.

[0028] In one embodiment, obtaining the actual strain at each measuring point of the conduit assembly includes:

[0029] With multiple stress gauges arranged along the axial direction of the conduit assembly, and each stress gauge serving as a measuring point, the actual strain at each measuring point of the conduit assembly can be obtained through the stress gauges in the conduit assembly.

[0030] or,

[0031] When the duct assembly has an optical fiber arranged along the axial direction, the actual strain at each measuring point of the duct assembly is obtained through the optical fiber in the duct assembly.

[0032] In one embodiment, the above method further includes:

[0033] During the process of the operator controlling the catheter assembly to advance towards the target tissue via the main handpiece, the real-time position point of the advancement section is obtained;

[0034] The real-time propulsion section position is compared with the center point of the pre-planned propulsion path section;

[0035] A center-approaching force is generated based on the principle of bringing the real-time propulsion section position point closer to the center point of the pre-planned propulsion path section;

[0036] The center proximity force is applied to the main hand end as a guiding force for the operator.

[0037] In one implementation, applying the feedback force to the main handpiece as an interactive force to the operator includes:

[0038] Obtain the preset force threshold;

[0039] Determine whether the feedback force exceeds the force threshold;

[0040] If the force exceeds the stated force threshold, the feedback force is applied to the main handpiece as an interactive force applied to the operator.

[0041] A navigation method for a catheter system, comprising:

[0042] Obtain the current advancement stage and / or advancement status of the catheter assembly;

[0043] Based on the aforementioned advancement stage and / or advancement status, determine one or more navigation modes that need to be activated at the current time;

[0044] By identifying one or more navigation methods that need to be enabled at the moment, the operator is guided to perform the operation.

[0045] The navigation methods include: visual navigation, force-sensory navigation, and force safety protection navigation.

[0046] In one embodiment, the propulsion state includes at least one of the following: catheter propulsion speed, catheter tip contact force, and catheter posture.

[0047] In one implementation, the operator is guided through a force safety protection navigation method, including:

[0048] During the process of the operator controlling the advancement of the conduit assembly through the main handpiece, the real-time position point of the advancement section is obtained;

[0049] The real-time propulsion section position is compared with the center point of the pre-planned propulsion path section;

[0050] A center-approaching force is generated based on the principle of bringing the real-time propulsion section position point closer to the center point of the pre-planned propulsion path section;

[0051] The center proximity force feedback is applied to the main handpiece as a guiding force for the operator.

[0052] In one implementation, force-based navigation provides operational guidance to the operator, including:

[0053] When the operator controls the catheter assembly to act on the target tissue through the main hand end, the contact force between the catheter assembly and the target tissue is obtained;

[0054] The contact force is converted into a feedback force;

[0055] The feedback force is applied to the main handpiece as an interactive force applied to the operator.

[0056] A force sensing control system, comprising:

[0057] The main handpiece is used by the operator for operation and control.

[0058] The catheter assembly is used to act on the target tissue when controlled by the operator via a main handpiece.

[0059] The controller, connected to the main handpiece and the catheter assembly, is used to acquire the real-time advancement section position point during the process of the operator controlling the catheter assembly to advance towards the target tissue through the main handpiece; compare the real-time advancement section position point with the center point of the pre-planned advancement path section; generate a center approach force according to the principle of bringing the real-time advancement section position point closer to the center point of the pre-planned advancement path section; and feed the center approach force back to the main handpiece as a guiding force applied to the operator.

[0060] In one embodiment, the conduit assembly is provided with a plurality of stress plates along the axial direction.

[0061] In one embodiment, the conduit assembly is provided with an optical fiber along the axial direction.

[0062] In one embodiment, the master end and the controller are disposed on the master end operating platform, and the catheter assembly is disposed on the advancement device of the patient surgical platform.

[0063] In one embodiment, the main operating platform is further provided with a display.

[0064] A controller includes a processor and a memory for storing processor-executable instructions, wherein the processor, when executing the instructions, implements the steps of the method described above.

[0065] A computer-readable storage medium having a computer program / instructions stored thereon, which, when executed by a processor, implement the steps of the above-described method.

[0066] The force control method and device provided in this application compare the real-time advancement cross-section position with the center point of the pre-planned advancement path cross-section during the process of the operator controlling the catheter assembly to advance towards the target tissue through the main hand end, so as to determine the degree of real-time advancement deviation. Based on the degree of deviation, a center approach force is generated and a feedback guiding force is formed to act on the operator's hand. This can avoid the problem of easy advancement direction deviation and injury to the patient caused by the lack of force guidance in the advancement process, and achieve the technical effect of effectively reducing the probability of danger during surgery. Attached Figure Description

[0067] To more clearly illustrate the technical solutions in the embodiments of this application 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 recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0068] Figure 1 This is a flowchart of one embodiment of the force control method provided in this application;

[0069] Figure 2 This is a schematic diagram of the architecture of a conduit system with tactile-assisted control provided in this application;

[0070] Figure 3 This is a schematic diagram of the structure of the flexible catheter provided in this application;

[0071] Figure 4 This is a schematic diagram illustrating the working principle of the catheter system provided in this application;

[0072] Figure 5 This is a schematic diagram of the structure of the sensing component disposed in the conduit provided in this application;

[0073] Figure 6 This is a schematic diagram illustrating the principle of how an operator's actions generate environmental force feedback, as provided in this application.

[0074] Figure 7This is a schematic diagram illustrating the principle of stiffness testing provided in this application;

[0075] Figure 8 This is a schematic diagram of the predetermined propulsion route provided in this application within the trachea;

[0076] Figure 9 This is a schematic diagram of the force direction of the virtual fixture provided in this application;

[0077] Figure 10 This is a schematic diagram illustrating the stages of the virtual fixture generating feedback force provided in this application;

[0078] Figure 11 This is a segmented schematic diagram of the feedback force provided in this application;

[0079] Figure 12 This is a schematic diagram of the force path of the rigid virtual fixture provided in this application;

[0080] Figure 13 This is the system level at which doctors can independently select navigation modes, as provided in this application;

[0081] Figure 14 This is a flowchart of a navigation method for a catheter system provided in this application;

[0082] Figure 15 This is a hardware structure block diagram of an electronic device for a force control method provided in this application;

[0083] Figure 16 This is a structural block diagram of one embodiment of the force control device provided in this application. Detailed Implementation

[0084] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this application.

[0085] Considering that existing catheterization robots typically involve the operator (i.e., the physician) controlling the catheter via a master control unit on a main operating platform, guiding it into the patient's body for manipulation within the target tissue, and given that the operation relies solely on visual navigation via a display screen, the operator cannot perceive the actual force applied, potentially leading to risks during the procedure. Therefore, this example presents a force-sensing control method: adding force feedback so that the force exerted by the catheter on the tissue is relayed to the operator, allowing them to directly perceive the force between the catheter and the tissue, thus improving surgical safety. Furthermore, considering the occasional deviation from the intended path during catheter advancement, a virtual clamp can be used to ensure the advancement path closely matches the predetermined path, minimizing bronchial deformation and complementing visual navigation.

[0086] Figure 1 This is a flowchart of one embodiment of the force control method provided in this application. Although this application provides method operation steps or device structures as shown in the following embodiments or figures, more or fewer operation steps or module units may be included in the method or device based on conventional or non-inventive effort. In steps or structures where there is no logically necessary causal relationship, the execution order of these steps or the module structure of the device is not limited to the execution order or module structure described in the embodiments and figures of this application. When the method or module structure is applied in actual devices or terminal products, it can be executed sequentially or in parallel according to the method or module structure shown in the embodiments or figures (e.g., in a parallel processor or multi-threaded processing environment, or even a distributed processing environment).

[0087] Specifically, such as Figure 1 As shown, the force control method described above may include the following steps:

[0088] Step 101: During the process of the operator controlling the catheter assembly to advance towards the target tissue through the main handpiece, the real-time position of the advancement section is obtained;

[0089] Step 102: Compare the real-time propulsion section position with the center point of the pre-planned propulsion path section;

[0090] Step 103: Generate a center approach force according to the principle of bringing the real-time propulsion section position point closer to the center point of the pre-planned propulsion path section;

[0091] Step 104: Apply the center proximity force feedback to the main hand end as a guiding force to the operator.

[0092] That is, during the process of the operator controlling the catheter assembly to advance towards the target tissue through the main hand end, the real-time advancement section position point is compared with the center point of the pre-planned advancement path section to determine the degree of real-time advancement deviation. Based on the degree of deviation, a center approach force is generated, and a feedback guiding force is formed and applied to the operator's hand. This can avoid the problem of easy deviation in advancement direction and injury to the patient caused by the lack of force guidance in the advancement process, thus achieving the technical effect of effectively reducing the probability of danger during surgery.

[0093] Furthermore, during surgery, considering that feedback can be provided not only for guiding force but also for contact force, the contact force between the catheter assembly and the target tissue can be obtained when the operator controls the catheter assembly to act on the target tissue via the main hand. This contact force is then converted into a feedback force and applied to the main hand as an interactive force to the operator. In other words, the operator receives force feedback based on the main hand, allowing them to perceive the applied force during surgery. This solves the problem of the high risk associated with existing visual feedback systems that cannot perceive the actual degree of force, effectively reducing the probability of surgical complications.

[0094] Specifically, sensing components can be incorporated into the catheter components, such as strain gauges, shape and position optical fibers, or the catheter itself can have built-in sensors. Force reconstruction devices, such as force-sensing handles or redundant degrees of freedom master hands, can be installed at the master end. These sensing components can provide feedback on the contact forces during the procedure to reproduce tissue tactile sensation, aiding the operator in diagnosis and decision-making. During surgery, the tactile device can provide vibration alerts when the doctor makes a mistake, working in conjunction with auditory and visual cues for more effective warnings.

[0095] The main handpiece can have more than 6 degrees of freedom, meaning it employs a redundant degree-of-freedom design, and all joints can be rotary joints, enabling more flexible dragging operations and a larger workspace. To achieve force feedback, motors can be installed at each degree-of-freedom joint. The desired joint torque τ_i (i = 1, ..., 6) can be calculated using a pre-set control algorithm to ultimately achieve force feedback at the main handpiece.

[0096] Specifically, converting contact force into feedback force can include:

[0097] S1: Convert the contact force into torque at each degree of freedom joint of the main hand end;

[0098] S2: The torque at each degree of freedom joint of the main hand end is used as the feedback force and applied to each degree of freedom joint of the main hand end.

[0099] That is, after the surgeon senses the guiding force or contact force from the end catheter, it can first transmit it to the communication unit, and then to the main hand end, converting the contact force into joint torque, which is then sent to the joint motors for execution, and finally felt by the operator's hand.

[0100] When obtaining the contact force between the catheter assembly and the target tissue, the actual strain at each measuring point of the catheter assembly can be obtained; the actual spatial shape of the catheter assembly can be reconstructed based on the actual strain at each measuring point; the actual spatial shape can be compared with the shape of the catheter assembly in free space to determine the external load force exerted by the target tissue on the catheter assembly; and the external load force can be used as the contact force.

[0101] Depending on the sensing components in the conduit assembly, different methods can be used to obtain the actual strain at each measuring point of the conduit assembly. For example, if the conduit assembly has multiple stress gauges along the axial direction, with each stress gauge serving as a measuring point, the actual strain at each measuring point of the conduit assembly can be obtained through the stress gauges in the conduit assembly; if the conduit assembly has an optical fiber along the axial direction, the actual strain at each measuring point of the conduit assembly can be obtained through the optical fiber in the conduit assembly.

[0102] Considering that tissue stiffness can reflect the condition of the target site, stiffness detection can be added. Specifically, we can assume that the stiffness of the tissue in contact with the catheter assembly is k, and the contact force between the catheter assembly and the tissue is F(t). Given the contact state at two time points, the magnitudes of the contact forces in these two states are F(t1) and F(t2), respectively, and the positional deviation is Δx. Accordingly, the stiffness of the tissue at this location can be calculated using the following formula:

[0103] k = abs(F(t1) - F(t2)) / Δx

[0104] After calculating the stiffness value, it can be displayed on the screen to prompt the operator. Alternatively, by adding a force sensor to the main handpiece, the displacement of the main handpiece can be determined by the force and stiffness value applied by the operator, thus forming a stiffness tactile sensation.

[0105] That is, during the process of the operator controlling the catheter assembly to act on the target tissue through the main hand end, the first contact force between the catheter assembly and the target tissue at a first time and the second contact force at a second time, as well as the positional deviation between the first time and the second time, can be obtained; the stiffness data of the target tissue can be determined based on the first contact force, the second contact force and the positional deviation; the force value applied by the operator to the main hand end can be obtained; the displacement of the main hand end can be calculated based on the stiffness data and the force value; and the displacement amount applied to the main hand end can be used as the stiffness tactile sensation applied to the operator.

[0106] In other words, the introduction of force feedback and reconstruction functions provides an additional dimension of perception for catheter robot operation, thereby making the surgical process more precise. Specifically, during the process of the operator controlling the catheter assembly to advance towards the target tissue through the main hand end, the real-time advancement section position point can be obtained; the real-time advancement section position point is compared with the center point of the pre-planned advancement path section; a center approach force is generated according to the principle of bringing the real-time advancement section position point closer to the center point of the pre-planned advancement path section; the center approach force is applied to the main hand end as a guiding force for the operator.

[0107] In practical implementation, considering the ability to detect the magnitude of the feedback force in real time, an interactive force reminder is only given when the force exceeds a preset threshold; otherwise, no interactive force reminder is given. That is, the confirmation of whether or not to provide feedback can be based on actual needs and circumstances. Specifically, applying the feedback force to the main handpiece as an interactive force to the operator can include: obtaining a preset force threshold; determining whether the feedback force exceeds the force threshold; and, if it exceeds the force threshold, applying the feedback force to the main handpiece as an interactive force to the operator.

[0108] In this example, a force control system is also provided, which may include:

[0109] 1) The main handpiece is used by the operator for operation and control;

[0110] 2) A catheter assembly for application to target tissue under the control of the operator via a master end;

[0111] 3) A controller, connected to the main handpiece and the catheter assembly, is used to acquire the real-time propulsion section position point during the process of the operator controlling the catheter assembly to advance towards the target tissue through the main handpiece; compare the real-time propulsion section position point with the center point of the pre-planned propulsion path section; generate a center approach force according to the principle of bringing the real-time propulsion section position point closer to the center point of the pre-planned propulsion path section; and feed the center approach force back to the main handpiece as a guiding force applied to the operator.

[0112] The aforementioned conduit assembly has multiple stress plates arranged along the axial direction, or the conduit assembly has an optical fiber arranged along the axial direction to form force sensing.

[0113] The master end and controller can be set on the master end operating platform, while the catheter assembly is set on the advancement device of the patient operating platform. A display can also be set on the master end operating platform.

[0114] Specifically, the patient's surgical platform can be equipped with: a magnetic field generator to generate a localized spatial magnetic field, which can monitor the three-dimensional spatial pose of the magnetic navigation sensor within this magnetic field range in the coordinate system of the magnetic field generator, providing position feedback; a catheter advancement / retraction device to drive the catheter forward or backward; and an adjustment arm to preliminarily adjust the catheter's pose within a large preoperative space, ensuring unobstructed access and minimal resistance. The aforementioned catheter components can be flexible catheters, serving as the bronchoscope body, with their tips capable of active bending in any direction.

[0115] The distal end of the flexible catheter may include: an endoscope for acquiring real-time endoscopic images; an instrument channel for inserting biopsy instruments, ablation devices, etc., for diagnosis or treatment after the flexible catheter is in place; a guidewire for driving the flexible catheter to bend; and an illumination device for providing illumination to the endoscope, which may be a beam guide, LED light source, etc.

[0116] The above method will be described below with reference to a specific embodiment. However, it is worth noting that this specific embodiment is only for better illustration of this application and does not constitute an improper limitation of this application.

[0117] To address the issue of low accuracy in existing catheter robots that rely solely on visual guidance, this case proposes incorporating force feedback and navigation. This allows the operator to obtain force information during the operation, thus aiding decision-making. Introducing force guidance can also prevent deformation caused by catheter-tissue contact, thereby reducing the difficulty of real-time registration. Furthermore, it allows for tactile perception of the stiffness of the target tissue (e.g., diseased tissue).

[0118] Specifically, the catheter robot system incorporates sensing components (e.g., strain gauges, shape and position optical fibers, or the catheter itself) and force reconstruction devices (e.g., force-sensing handles, redundant degrees of freedom master hands). The sensing components can provide feedback to the controller regarding the contact forces during surgery, reproducing tissue tactile sensations to aid the operator in diagnosis and decision-making. Furthermore, the system can generate guiding forces based on the catheter's position relative to the trachea, establishing force-sensing navigation.

[0119] Furthermore, during surgery, the tactile device can provide vibration alerts when the doctor makes mistakes, working in conjunction with auditory and visual cues for more effective warnings. It can also create virtual clamps to prevent dangerous operations and establish virtual channels for tactile guidance, minimizing deformation of the tracheal passage and complementing visual navigation. In short, the introduction of force feedback and reconstruction functions provides an additional dimension of perception for the operation of the endotracheal robot, thereby making the surgical process more precise.

[0120] like Figure 2 As shown, this example provides a catheter system structure with tactile-assisted control, which may include: a master operating platform and a patient surgical platform. The master operating platform may include: a master handpiece and a navigation interface, used by the operator (which may be a doctor) to send control commands and obtain real-time information during the surgical process, including: real-time endoscopic images, current catheter movement status information, system operating status, and alarm information, etc. The patient surgical platform is the surgical execution device at the patient end, and may include: a propulsion device, an endoscopic catheter, an adjustment arm, a magnetic field generator, and peripheral equipment (e.g., a peristaltic pump, a clamping valve, etc.).

[0121] Specifically, the main operating platform can be as follows: Figure 2 As shown, it includes: a navigation interface for displaying real-time endoscopic images, a 3D model of the bronchus (e.g., identified nodules, navigation path, auxiliary marker information, etc.), a virtual endoscope, catheter motion assistance information (e.g., current bending angle, direction, speed, position, etc. of the catheter), the current status of the system, and alarm information; and a force feedback master hand (i.e., the master hand end), wherein the force feedback master hand can have redundant degrees of freedom.

[0122] For example, if the force feedback master hand has ≥6 degrees of freedom in its joints and is designed as a rotational joint, then to achieve more flexible dragging operations and a larger workspace, the force feedback master hand and the master-end haptic device can be designed with redundant degrees of freedom. To achieve force feedback, motors are installed at each degree of freedom joint of the force feedback master hand. The desired joint torque τ_i (i=1…6) can be calculated through a pre-set control algorithm to ultimately achieve force sensation F at the end of the master hand (where the doctor's hand is gripping).

[0123] The following formula can be satisfied between torque and force sensation:

[0124]

[0125] Where J is the Jacobian matrix of the master hand, and the superscript T indicates transpose.

[0126] In practice, the primary handheld device can be an Omega, Force Dimension, Phamton, or other similar devices.

[0127] Specifically, the patient's surgical platform can be as follows: Figure 2 As shown, it includes: a magnetic field generator, used to generate a local spatial magnetic field, which can monitor the three-dimensional spatial pose of the magnetic navigation sensor within the magnetic field range in the coordinate system of the magnetic field generator in real time, as position feedback; a catheter advancement / retraction device, used to drive the catheter assembly forward or backward; an adjustment arm, used to preliminarily adjust the position of the catheter in a large space before surgery, so that the catheter access is unobstructed and the resistance is small; and a catheter assembly (i.e., endoscopic catheter), which can be a flexible catheter, which is the bronchoscope body, and its end can be actively bent in any direction.

[0128] Among them, flexible catheters can be like Figure 3 As shown, the distal end portion includes: an endoscope for acquiring real-time endoscopic images; an instrument channel for inserting biopsy instruments, ablation devices, etc., for diagnosis or treatment after the flexible catheter is in place; a guidewire for driving the flexible catheter to bend; and an illumination device for providing illumination to the endoscope, which may be a beam guide, LED light source, etc.

[0129] The working principle of the catheter system can be as follows: Figure 4 As shown, the operator actively drags the force feedback master hand (i.e., the aforementioned master means) to move. Conversely, the force feedback manipulator arm will feed back the force calculated by the control system to the operator's hand as a reminder. Under the operator's drag, the force feedback master hand will change its end-effector pose. The pose information is transmitted to the flexible endoscopic catheter through a master-slave mapping algorithm to realize the movement of the endoscopic catheter, including forward and backward movement, bending, etc. After the endoscopic catheter moves, the surgical field of view fed back to the operator will change, and the endoscopic catheter will come into contact with the patient's bronchial tissue, forming a contact force. Due to the presence of the endoscope and the magnetic navigation system, the real-time endoscopic image returned by the endoscope to the doctor will change accordingly, and the magnetic navigation system will also detect this change and reflect it in the virtual endoscope on the navigation interface, ultimately making the virtual endoscope consistent with the real endoscopic image.

[0130] For flexible catheters, such as Figure 5 As shown in section a, the actively bendable portion possesses bending capability. To calculate the external contact force experienced by the catheter, a force sensing component can be integrated onto the catheter. Specifically, force sensing can be performed using one of the following methods:

[0131] 1) Strain gauges, such as Figure 5 As shown in b, strain gauges can be arranged along the duct axis (parallel to the axis) to measure the actual strain at each measuring point; then, the actual spatial shape of the duct can be reconstructed from the strain. Finally, this shape is compared with the shape calculated from the duct model in free space to calculate the external load force applied to the duct by the environment.

[0132] 2) Optical fiber, such as Figure 5 As shown in c, the method is similar to that of strain gauges, but the strain along the duct axis is measured by optical fiber, and then the shape is reconstructed to calculate the external load force.

[0133] 3) Mechanical model of the catheter itself.

[0134] Force sensing is used to feed the force detected by the flexible catheter back to the main end. The tactile device at the main end then presents this force to the operator as realistically as possible, in order to stop or guide the surgical procedure.

[0135] Specifically, it can be like Figure 6 As shown, after the surgical catheter senses the environmental force (which can be a real environmental contact force or a virtual force), it is first transmitted to the communication unit, and then to the master haptic device. This force is converted into joint torque, which is then sent to the joint motors for execution, and finally felt by the human hand. Conversely, the human hand will drag the master hand to create the speed of the master hand's end effector. This speed is transmitted to the slave catheter actuator through the communication device, ultimately forming the movement speed v of the catheter end effector. In addition to speed control, position control can also be performed accordingly to control the movement of the catheter end effector.

[0136] In addition to reproducing the force sensation at the main end, force threshold prompts can also be provided. Specifically, different status information can be displayed on the interactive interface based on whether the contact force of the catheter exceeds the safety threshold: when it does not exceed the threshold, only the magnitude of the contact force is displayed; when it exceeds the threshold, the magnitude of the force is displayed, and the current contact force exceeds the threshold is reminded by warning colors, flashing, etc., on the catheter model and force value display.

[0137] In addition to master-slave feedback force, this system can also be used for stiffness detection. Its basic principle is as follows: Figure 7 As shown, assuming the stiffness of the tissue in contact with the catheter is k, and the contact force between the catheter assembly and the tissue is F(t), given two contact states at two time points, the magnitudes of the contact forces in these two states are F(t1) and F(t2), respectively, and the positional deviation is Δx. Correspondingly, the stiffness of the tissue at this location can be calculated using the following formula:

[0138] k = abs(F(t1) - F(t2)) / Δx

[0139] Among them, tissue stiffness can reflect the benign or malignant nature or condition of the target location. This value can be displayed on the navigation interface to provide guidance to the doctor. If it is desired to display stiffness information on the main end, a force sensor can be added to the end of the main hand to measure the force F applied by the doctor to the main hand, and calculate the displacement x = F / k of the main hand from the stiffness k to form stiffness tactile sensation.

[0140] In the example above, by applying a force feedback catheter system, in addition to force safety protection, force guidance during surgical procedures can also be provided. For this purpose, virtual clamps can be set up, such as... Figure 8 As shown in the diagram, the solid black line represents the pre-operative planned path, which the surgeon is expected to follow to reach the target point (indicated by the dots). To prevent the surgeon from taking the wrong turn or deviating significantly from the path and causing damage to the trachea, a virtual clamp can be applied to the surgeon's operation via force feedback.

[0141] Virtual fixtures can be like Figure 9 As shown, since the cross-section of the trachea can be approximated as a circle, the algorithm automatically generates a guiding force F from the edge (dashed line) of the virtual clamp to the center position (solid line navigation path). This force is related to the position and speed of the catheter from the center in the cross-sectional direction. The force generated at the end is fed back to the tactile device at the master end to guide the doctor to operate the catheter to the desired center position.

[0142] In implementation, the feedback force generated by the virtual fixture can be calculated as follows:

[0143] 1) The master-end feedback force is generated based on the slave-end position. Specifically, the calculation of this feedback force adopts a piecewise calculation method, such as... Figure 10 As shown:

[0144] Phase 1 is closer to the navigation path but farther from the edge of the cross-section; therefore, a smaller feedback force can be used. Furthermore, the magnitude of the feedback force does not change significantly within this range, indicating that the motion within this range basically meets the requirements. Figure 11 As shown in F1;

[0145] In Phase 2, as the operator begins to deviate significantly from the path center, the feedback force increases rapidly to alert the operator that they are veering off the navigation path and need to correct their actions, thus serving a guiding purpose. Figure 11 As shown in F2.

[0146] Near the edge of the cross-section in stage 3, the feedback force reaches its maximum value. At this point, the main hand feedback force reaches saturation, and the maximum feedback force remains at its maximum value without significant change. Figure 11 As shown in F3.

[0147] In this feedback force generation algorithm, the direction of all virtual fixture feedback forces points to the center of the cross section, and the virtual fixtures are flexible virtual fixtures.

[0148] 2) The slave end's motion velocity is generated based on the master end's position, using a rigid virtual clamp. Therefore, there are strict limitations on the movement of the slave end of the conduit, which needs to be restricted within... Figure 8 As shown on the solid line, forces perpendicular to the path are filtered out, and the path proceeds exactly along the predetermined route.

[0149] When the end of the master hand experiences a displacement P, the controller converts this information into a velocity V, which is the velocity of the end of the conduit moving along a predetermined trajectory. Figure 12 As shown, the relationship between displacement and velocity can be expressed as:

[0150] V = kP

[0151] Where k is the proportionality coefficient, which physically represents the stiffness of the virtual fixture.

[0152] Because there are strict restrictions on the movement of the slave end, the tactile feedback force from the master end will be large. Because there are strict restrictions on the movement path, the accuracy is higher.

[0153] In other words, the doctor's operation can be standardized in several ways, such as: 1) visual navigation; 2) force safety protection; 3) force-sensory navigation. That is, the doctor's operation is standardized through three different perceptual dimensions: visual, force-sensory, and interactive depth.

[0154] To make the entire operation more controllable, various navigation options can be flexibly selected according to the operator's needs and the stage of the surgery. Specifically, options can be set on the guidance interface to provide three levels of guidance: 1) visual-assisted navigation; 2) visual assistance + force safety protection; 3) visual assistance + force safety protection + force-sensory guidance. During the surgery, the operator can select the guidance level according to the actual situation and needs, and can also automatically switch between guidance levels based on the surgical scenario / anatomical tissue environment, etc.

[0155] Specifics are not yet available, but navigation systems can be like... Figure 13 The diagram shows three levels:

[0156] Level 1: Visual navigation, where the doctor is guided through the surgical procedure entirely by a virtual endoscope in the navigation interface, without any sensory information interaction.

[0157] Level 2: Visual navigation + force safety protection. With visual navigation, when the contact force between the catheter and the tissue exceeds the threshold and is about to cause damage to the tissue, the main end force feedback is provided to remind the doctor to perform further operations and prevent damage from occurring.

[0158] Level 3: Visual navigation + force safety protection + force feedback navigation. The force feedback system is further integrated into the interaction, which not only works when injury is about to occur, but also provides dual guidance to doctors through vision and force when there is no injury, enabling them to perform the most desired operation and improve the quality and efficiency of surgery.

[0159] In practical implementation, three dimensions of guided selection can be set according to actual needs and circumstances. For example, it can be intelligently triggered entirely by the specific stage of the surgery, catheter position, and distal contact force information without requiring doctors to make selections on demand. Alternatively, visual navigation can be enabled by default due to its fundamental function; force safety protection can only be enabled when the catheter movement speed or contact force exceeds a given threshold, otherwise it is not enabled by default; force-sensing navigation only... Figure 10 Only stage 2 or stage 3 as shown will be activated; otherwise, it will not be activated. When multiple force navigation and force safety protections are activated simultaneously, the feedback forces generated by the two methods can be superimposed and output at the haptic device on the main hand.

[0160] In the example above, force-sensing navigation was added to the existing endotracheal robot product, which can provide vibration feedback. The virtual fixture can ensure the accuracy of the advancement path, reduce tracheal deformation, and help achieve more accurate real-time registration. Force feedback makes the operator's surgical process safer.

[0161] This application also provides a navigation method for a catheter system, such as Figure 14 As shown, it may include the following steps:

[0162] Step 1401: Obtain the current advancement stage and / or advancement status of the catheter assembly;

[0163] The advancement state may include, but is not limited to, at least one of the following: catheter advancement speed, catheter tip contact force, and catheter posture.

[0164] Step 1402: Based on the advancement stage and / or advancement status, determine one or more navigation modes that need to be activated at the current time;

[0165] Step 1403: Provide operation guidance to the operator by determining one or more navigation methods that need to be enabled at present;

[0166] The navigation methods may include: visual navigation, force-sensing navigation, and force safety protection navigation.

[0167] 1) The operator is guided to operate by force safety protection navigation. This can be done by obtaining the real-time position of the propulsion section during the process of the operator controlling the advancement of the conduit assembly through the main hand terminal; comparing the real-time position of the propulsion section with the center point of the pre-planned propulsion path section; generating a center approach force according to the principle of moving the real-time position of the propulsion section closer to the center point of the pre-planned propulsion path section; and feeding the center approach force back to the main hand terminal as a guiding force applied to the operator.

[0168] 2) The operator is guided to operate by force-sensing navigation. This can be done by obtaining the contact force between the catheter assembly and the target tissue when the operator controls the catheter assembly to act on the target tissue through the main hand end; converting the contact force into a feedback force; and applying the feedback force to the main hand end as an interactive force applied to the operator.

[0169] 3) The operator is guided through visual navigation, which can be done by displaying surgical images and path guidance on the screen.

[0170] The methods and embodiments provided in the above-described embodiments of this application can be executed in a mobile terminal, computer terminal, or similar computing device. Taking its operation on an electronic device as an example... Figure 15 This is a hardware structure block diagram of an electronic device for a force control method provided in this application. Figure 15 As shown, the electronic device 10 may include one or more (only one is shown in the figure) processors 02 (processors 02 may include, but are not limited to, microprocessors MCUs or programmable logic devices FPGAs, etc.), a memory 04 for storing data, and a transmission module 06 for communication functions. Those skilled in the art will understand that... Figure 15 The structure shown is for illustrative purposes only and does not limit the structure of the electronic device described above. For example, electronic device 10 may also include... Figure 15 The more or fewer components shown, or having the same Figure 15 The different configurations shown.

[0171] The memory 04 can be used to store software programs and modules of application software, such as the program instructions / modules corresponding to the force control method in the embodiments of this application. The processor 02 executes various functional applications and data processing by running the software programs and modules stored in the memory 04, thereby realizing the force control method of the application described above. The memory 04 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 04 may further include memory remotely located relative to the processor 02, and these remote memories can be connected to the electronic device 10 via a network. Examples of the above-mentioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0172] The transmission module 06 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the communication provider of the electronic device 10. In one example, the transmission module 06 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission module 06 may be a Radio Frequency (RF) module, used for wireless communication with the Internet.

[0173] At the software level, the aforementioned force control device can be as follows: Figure 16 As shown, it includes:

[0174] The acquisition module 1601 is used to acquire the real-time position of the advancement section during the process of the operator controlling the catheter assembly to advance towards the target tissue through the main hand end;

[0175] The comparison module 1602 is used to compare the real-time propulsion section position point with the center point of the pre-planned propulsion path section.

[0176] The generation module 1603 is used to generate a center approach force according to the principle of bringing the real-time propulsion section position point closer to the center point of the pre-planned propulsion path section;

[0177] Feedback module 1604 is used to apply the center proximity force feedback to the main hand end as a guiding force to the operator.

[0178] In one embodiment, the force control device described above can also be used to acquire the contact force between the catheter assembly and the target tissue when the operator controls the catheter assembly to act on the target tissue through the main hand end; convert the contact force into a feedback force; and apply the feedback force to the main hand end as an interactive force applied to the operator.

[0179] In one embodiment, the contact force can be converted into torque at each degree of freedom joint of the main hand end; the torque at each degree of freedom joint of the main hand end is used as the feedback force and applied to each degree of freedom joint of the main hand end.

[0180] In one embodiment, the actual strain at each measuring point of the catheter assembly can be obtained; the actual spatial shape of the catheter assembly can be reconstructed based on the actual strain at each measuring point; the actual spatial shape can be compared with the shape of the catheter assembly in free space to determine the external load force exerted by the target tissue on the catheter assembly; and the external load force can be used as the contact force.

[0181] In one embodiment, when multiple stress gauges are provided in the conduit assembly along the axial direction, with each stress gauge serving as a measuring point, the actual strain at each measuring point of the conduit assembly can be obtained through the stress gauges in the conduit assembly; or, when an optical fiber is provided in the conduit assembly along the axial direction, the actual strain at each measuring point of the conduit assembly can be obtained through the optical fiber in the conduit assembly.

[0182] In one embodiment, the force control device described above can also be used to, during the process of an operator controlling the catheter assembly to advance towards the target tissue via a main handpiece, acquire a first contact force between the catheter assembly and the target tissue at a first time and a second contact force at a second time, as well as a positional deviation between the first and second times; determine the stiffness data of the target tissue based on the first contact force, the second contact force, and the positional deviation; acquire the force value applied by the operator to the main handpiece; calculate the displacement of the main handpiece based on the stiffness data and the force value; and apply the displacement to the main handpiece as a stiffness tactile sensation applied to the operator.

[0183] In one implementation, a preset force threshold can be obtained; it can be determined whether the feedback force exceeds the force threshold; if it exceeds the force threshold, the feedback force is applied to the main hand as an interactive force applied to the operator.

[0184] This application also provides a specific implementation of an electronic device capable of implementing all steps of the force control method in the above embodiments. The electronic device specifically includes: a processor, a memory, a communication interface, and a bus; wherein the processor, memory, and communication interface communicate with each other via the bus; the processor is used to call a computer program in the memory, and when the processor executes the computer program, it implements all steps of the force control method in the above embodiments. For example, when the processor executes the computer program, it implements the following steps:

[0185] Step 1: During the process of the operator controlling the catheter assembly to advance towards the target tissue through the main handpiece, the real-time position of the advancement section is obtained;

[0186] Step 2: Compare the real-time propulsion section position with the center point of the pre-planned propulsion path section;

[0187] Step 3: Generate a center-approaching force according to the principle of bringing the real-time propulsion section position point closer to the center point of the pre-planned propulsion path section;

[0188] Step 4: Apply the center proximity force feedback to the main hand end as a guiding force to the operator.

[0189] As can be seen from the above description, in the process of the operator controlling the catheter assembly to advance towards the target tissue through the main hand end, the real-time advancement section position point is compared with the center point of the pre-planned advancement path section to determine the degree of real-time advancement deviation. Based on the degree of deviation, a center approach force is generated, and a feedback guiding force is formed and applied to the operator's hand. This can avoid the existing problem of easy deviation in advancement direction causing damage to the patient due to the lack of force guidance in the advancement process, and achieve the technical effect of effectively reducing the probability of danger during surgery.

[0190] Embodiments of this application also provide a computer-readable storage medium capable of implementing all steps of the force control method in the above embodiments. The computer-readable storage medium stores a computer program that, when executed by a processor, implements all steps of the force control method in the above embodiments. For example, when the processor executes the computer program, it implements the following steps:

[0191] Step 1: During the process of the operator controlling the catheter assembly to advance towards the target tissue through the main handpiece, the real-time position of the advancement section is obtained;

[0192] Step 2: Compare the real-time propulsion section position with the center point of the pre-planned propulsion path section;

[0193] Step 3: Generate a center-approaching force according to the principle of bringing the real-time propulsion section position point closer to the center point of the pre-planned propulsion path section;

[0194] Step 4: Apply the center proximity force feedback to the main hand end as a guiding force to the operator.

[0195] As can be seen from the above description, in the process of the operator controlling the catheter assembly to advance towards the target tissue through the main hand end, the real-time advancement section position point is compared with the center point of the pre-planned advancement path section to determine the degree of real-time advancement deviation. Based on the degree of deviation, a center approach force is generated, and a feedback guiding force is formed and applied to the operator's hand. This can avoid the existing problem of easy deviation in advancement direction causing damage to the patient due to the lack of force guidance in the advancement process, and achieve the technical effect of effectively reducing the probability of danger during surgery.

[0196] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on its differences from other embodiments. In particular, hardware + program embodiments are relatively simple in description because they are fundamentally similar to method embodiments; relevant parts can be referred to the descriptions in the method embodiments.

[0197] The foregoing has described specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are possible or may be advantageous.

[0198] While this application provides the method operation steps as described in the embodiments or flowcharts, more or fewer operation steps may be included based on conventional or non-inventive labor. The order of steps listed in the embodiments is merely one possible execution order among many and does not represent the only execution order. In actual device or client product execution, the methods shown in the embodiments or drawings can be executed sequentially or in parallel (e.g., in a parallel processor or multi-threaded processing environment).

[0199] The systems, devices, modules, or units described in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, a computer can be, for example, a personal computer, a laptop computer, an in-vehicle human-machine interaction device, a cellular phone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or any combination of these devices.

[0200] While this specification provides method operation steps as described in the embodiments or flowcharts, more or fewer operation steps may be included based on conventional or non-inventive means. The order of steps listed in the embodiments is merely one possible execution order among many and does not represent the only execution order. In actual device or end product execution, the methods shown in the embodiments or drawings may be executed sequentially or in parallel (e.g., in a parallel processor or multi-threaded processing environment, or even a distributed data processing environment). The terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, product, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, product, or apparatus. Without further limitations, the presence of other identical or equivalent elements in the process, method, product, or apparatus that includes said elements is not excluded.

[0201] For ease of description, the above devices are described in terms of function, divided into various modules. Of course, in implementing the embodiments of this specification, the functions of each module can be implemented in one or more software and / or hardware components, or a module that performs the same function can be implemented by a combination of multiple sub-modules or sub-units. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, or indirect coupling or communication connection between devices or units, and may be electrical, mechanical, or other forms.

[0202] Those skilled in the art will also know that, besides implementing the controller using purely computer-readable program code, the same functions can be achieved by logically programming the method steps, making the controller function as logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers (PLCs), and embedded microcontrollers. Therefore, such a controller can be considered a hardware component, and the devices within it used to implement various functions can also be considered structures within that hardware component. Alternatively, the devices used to implement various functions can be considered as both software modules implementing the method and structures within a hardware component.

[0203] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. 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... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0204] 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 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0205] 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 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0206] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0207] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0208] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0209] Those skilled in the art will understand that the embodiments of this specification can be provided as methods, systems, or computer program products. Therefore, the embodiments of this specification can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, the embodiments of this specification can take the form of computer program products implemented 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.

[0210] The embodiments described in this specification can be described in the general context of computer-executable instructions, such as program modules, that are executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform a specific task or implement a specific abstract data type. The embodiments of this specification can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0211] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, system embodiments are basically similar to method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments. In the description of this specification, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the embodiments in this specification. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described can be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0212] The above description is merely an embodiment of the present specification and is not intended to limit the embodiments of the present specification. For those skilled in the art, various modifications and variations can be made to the embodiments of the present specification. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the embodiments of the present specification should be included within the scope of the claims of the embodiments of the present specification.

Claims

1. A force sensing control system, characterized in that, include: The main handpiece is used by the operator for operation and control. The catheter assembly is used to act on the target tissue when controlled by the operator via a main handpiece. The controller, connected to the main handpiece and the catheter assembly, is used to acquire the real-time position of the advancement section as the operator controls the catheter assembly to advance towards the target tissue through the main handpiece. The real-time propulsion section position is compared with the center point of the pre-planned propulsion path section to determine the degree of real-time propulsion deviation; a center approach force is generated according to the principle of bringing the real-time propulsion section position closer to the center point of the pre-planned propulsion path section. The center proximity force feedback is applied to the main handpiece as a guiding force for the operator.

2. The force control system according to claim 1, characterized in that, The controller is also used to acquire, during the process of the operator controlling the catheter assembly to act on the target tissue through the main hand end, the first contact force between the catheter assembly and the target tissue at a first time and the second contact force at a second time, as well as the positional deviation between the first time and the second time. The stiffness data of the target tissue are determined based on the first contact force, the second contact force, and the positional deviation. Obtain the force value applied by the operator to the main hand end; The displacement of the main hand end is calculated based on the stiffness data and the force value. The displacement is applied to the main hand end as a stiff tactile sensation applied to the operator.

3. The force control system according to claim 1, characterized in that, The controller is also used for: When the operator controls the catheter assembly to act on the target tissue through the main hand end, the contact force between the catheter assembly and the target tissue is obtained; The contact force is converted into a feedback force; The feedback force is applied to the main handpiece as an interactive force applied to the operator.

4. The force control system according to claim 3, characterized in that, Converting the contact force into a feedback force includes: The contact force is converted into torque at each degree of freedom joint of the main hand end; The torque at each degree of freedom joint of the main hand end is used as the feedback force and applied to each degree of freedom joint of the main hand end.

5. The force control system according to claim 3, characterized in that, Obtaining the contact force between the catheter assembly and the target tissue includes: Obtain the actual strain at each measuring point of the conduit assembly; Based on the actual strain at each measuring point, the actual spatial shape of the conduit assembly is reconstructed; The actual spatial shape is compared with the shape of the catheter assembly in free space to determine the external load force exerted on the catheter assembly by the target tissue; The external load force is used as the contact force.

6. The force control system according to claim 5, characterized in that, Obtaining the actual strain at each measuring point of the conduit assembly includes: With multiple stress gauges arranged along the axial direction of the conduit assembly, and each stress gauge serving as a measuring point, the actual strain at each measuring point of the conduit assembly can be obtained through the stress gauges in the conduit assembly. or, When the duct assembly has an optical fiber arranged along the axial direction, the actual strain at each measuring point of the duct assembly is obtained through the optical fiber in the duct assembly.

7. The force control system according to claim 1, characterized in that, The conduit assembly has multiple stress plates arranged along the axial direction.

8. The force control system according to claim 1, characterized in that, The conduit assembly has an optical fiber arranged along the axial direction.

9. A force sensing control system, characterized in that, include: The main handpiece is used by the operator for operation and control. The catheter assembly is used to act on the target tissue when controlled by the operator via a main handpiece. The controller, connected to the main handpiece and the catheter assembly, is used to acquire the current advancement stage and / or advancement status of the catheter assembly; determine one or more navigation modes to be activated based on the advancement stage and / or advancement status; and provide operation guidance to the operator through the determined one or more navigation modes to be activated; wherein, the navigation modes include: visual navigation mode, force navigation mode, and force safety protection navigation mode; Among these measures, the operation guidance for operators is provided through force safety protection navigation, including: During the process of the operator controlling the advancement of the conduit assembly through the main handpiece, the real-time position point of the advancement section is obtained; The real-time propulsion section position is compared with the center point of the pre-planned propulsion path section to determine the degree of real-time propulsion deviation. A center-approaching force is generated based on the principle of bringing the real-time propulsion section position point closer to the center point of the pre-planned propulsion path section; The center proximity force feedback is applied to the main handpiece as a guiding force for the operator.

10. The force sensing control system according to claim 9, characterized in that, The advancement state includes at least one of the following: catheter advancement speed, catheter tip contact force, and catheter posture.

11. The force control system according to claim 9, characterized in that, Operational guidance is provided to the operator through force-sensory navigation, including: When the operator controls the catheter assembly to act on the target tissue through the main hand end, the contact force between the catheter assembly and the target tissue is obtained; The contact force is converted into a feedback force; The feedback force is applied to the main handpiece as an interactive force applied to the operator.

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