Intelligent force feedback guidewire control system and corresponding control methods

Abstract

This application provides a smart force feedback guidewire control system and corresponding control method. The system includes an operator, a driver, and a smart force feedback guidewire. The operator includes an operating lever, and the driver includes a driving unit and a demodulator. The operating lever controls the driving unit, and the smart force feedback guidewire is mounted on the driving unit. The driving unit pushes the smart force feedback guidewire. The tail end of the smart force feedback guidewire is connected to the demodulator, which converts the feedback optical signal into guidewire force and feeds the guidewire force back to the operator to control the smart force feedback guidewire. The demodulator converts the received feedback optical signal into guidewire force and feeds the guidewire force back to the operator. The tactile feedback sensor on the operator's operating lever can determine the force situation of the smart force feedback guidewire in the blood vessel. Based on the sensed force situation, the operator controls the driving unit in different ways, and the driving unit pushes the smart force feedback guidewire in different ways.

Description

Technical Field

[0001] This application relates to the field of intelligent control technology for medical devices, such as an intelligent force feedback guidewire control system and corresponding control method. Background Technology

[0002] With the increasing incidence of cardiovascular diseases, interventional surgery has been widely used in recent years. Most existing interventional surgical systems and / or robots simply deliver the guidewire. During interventional surgery, after the guidewire enters the blood vessel, it needs to be moved to the target location. During this movement, the guidewire tip comes into contact with the blood vessel wall. When the guidewire tip encounters obstacles such as plaque, the force on the guidewire tip increases, requiring adjustments to the advancement of the guidewire. Existing interventional surgical systems and / or robots cannot provide feedback on the actual force exerted on the guidewire within the blood vessel. Summary of the Invention

[0003] This application provides an intelligent force feedback guidewire control system and corresponding control method, which aims to solve the problem that existing interventional surgical systems and / or interventional surgical robots cannot provide feedback on the actual force situation of the interventional guidewire in human blood vessels.

[0004] To solve the above problems, this application adopts the following technical solution:

[0005] Firstly, this paper provides an intelligent force feedback guidewire control system, including an operator, a driver, and an intelligent force feedback guidewire.

[0006] The operator includes an operating lever, and the driver includes a driving unit and a demodulator. The operating lever is used to control the driving unit, and the intelligent force feedback guidewire is disposed on the driving unit. The driving unit is used to push the intelligent force feedback guidewire. The tail end of the intelligent force feedback guidewire is connected to the demodulator, and the demodulator is used to convert the feedback optical signal into force on the guidewire and feed the force on the guidewire back to the operator to control the intelligent force feedback guidewire.

[0007] The system also includes a guide wire bending device for adjusting the degree of bending at the tip of the intelligent force feedback guide wire;

[0008] The demodulator determines whether the force at the tip of the intelligent force feedback guidewire is greater than a first force threshold. If so, the drive unit controls the guidewire bending device to adjust the degree of bending at the tip of the intelligent force feedback guidewire.

[0009] If the force at the tip of the intelligent force feedback guidewire is less than or equal to the first force threshold, the demodulator determines whether the force at the middle end of the intelligent force feedback guidewire is greater than the second force threshold. If the force at the middle end of the intelligent force feedback guidewire is greater than the second force threshold, the operating lever controls the driving unit, and the driving unit delivers the intelligent force feedback guidewire back and forth.

[0010] Preferably, the guide wire bending device is disposed on the intelligent force feedback guide wire.

[0011] Preferably,

[0012] The operating lever controls the drive unit, which forward-delivers the intelligent force feedback guidewire;

[0013] The demodulator emits an optical signal to the tip of the intelligent force feedback guidewire;

[0014] The demodulator receives the feedback optical signal fed back from the tip of the smart force feedback guidewire;

[0015] The demodulator converts the feedback optical signal into the force on the guidewire;

[0016] The demodulator feeds back the force applied to the guidewire to the manipulator.

[0017] Preferably, the demodulator converts the feedback optical signal into force on the guidewire, including:

[0018] The demodulator demodulates the feedback optical signal to obtain the first feedback optical wavelength;

[0019] The demodulator acquires the second feedback light wavelength of the previous feedback light signal;

[0020] The demodulator calculates the change in the feedback light wavelength based on the first feedback light wavelength and the second feedback light wavelength;

[0021] The demodulator calculates the change in the wavelength of the feedback light to obtain the force on the guide wire.

[0022] Preferably, the demodulator calculates the change in the wavelength of the feedback light to obtain the force on the guidewire, including:

[0023] The demodulator calculates the force on the guidewire using the following formula:

[0024] ;

[0025] in, The center wavelength of the fiber optic grating. The change in the feedback light wavelength is given, k is the force sensing coefficient of the guide wire, and pe Let be the elastic-optic coefficient of the fiber grating. The guidewire is subjected to force.

[0026] Preferably, after the demodulator feeds back the force on the guidewire to the operator, it further includes:

[0027] The demodulator determines whether the intelligent force feedback guidewire is located at the target position. If so, the drive unit stops delivering the intelligent force feedback guidewire forward.

[0028] If the intelligent force feedback guidewire is not located at the target position, the drive unit continues to deliver the intelligent force feedback guidewire forward or backward.

[0029] Thirdly, this application provides an intelligent force feedback guidewire control device, comprising:

[0030] A forward delivery module is used for the lever control drive unit, which forward delivers the intelligent force feedback guidewire;

[0031] The optical signal transmitting module is used by the demodulator to send an optical signal to the head end of the intelligent force feedback guidewire;

[0032] An optical signal receiving module is used by the demodulator to receive feedback optical signals fed back from the head end of the intelligent force feedback guidewire;

[0033] The guidewire force conversion module is used by the demodulator to convert the feedback optical signal into guidewire force.

[0034] The guidewire force feedback module is used by the demodulator to feed back the force on the guidewire to the operator.

[0035] The bending degree adjustment module is used by the demodulator to determine whether the force at the head end of the intelligent force feedback guidewire is greater than a first force threshold. If so, the drive unit controls the guidewire bending device to adjust the bending degree of the head end of the intelligent force feedback guidewire.

[0036] The intelligent force feedback guidewire reciprocating delivery module is used to determine whether the force at the middle end of the intelligent force feedback guidewire is greater than a second force threshold if the force at the tip of the intelligent force feedback guidewire is less than or equal to the first force threshold. If the force at the middle end of the intelligent force feedback guidewire is greater than the second force threshold, the operating lever controls the driving unit to reciprocate the intelligent force feedback guidewire.

[0037] This application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0038] An operating lever controls a drive unit that forward-delivers a smart force feedback guidewire.

[0039] The demodulator emits a light signal to the tip of the intelligent force feedback guidewire;

[0040] The demodulator receives the feedback optical signal fed back from the tip of the smart force feedback guidewire;

[0041] The demodulator converts the feedback optical signal into a force on the guidewire.

[0042] The demodulator feeds back the force on the guidewire to the operator.

[0043] The demodulator determines whether the force at the tip of the intelligent force feedback guidewire is greater than the first force threshold. If so, the drive unit controls the guidewire bending device to adjust the degree of bending at the tip of the intelligent force feedback guidewire.

[0044] If the force at the tip of the intelligent force feedback guidewire is less than or equal to the first force threshold, the demodulator determines whether the force at the middle end of the intelligent force feedback guidewire is greater than the second force threshold. If the force at the middle end of the intelligent force feedback guidewire is greater than the second force threshold, the operating lever controls the driving unit, and the driving unit delivers the intelligent force feedback guidewire back and forth.

[0045] This application also provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, performs the following steps:

[0046] An operating lever controls a drive unit that forward-delivers a smart force feedback guidewire.

[0047] The demodulator emits a light signal to the tip of the intelligent force feedback guidewire;

[0048] The demodulator receives the feedback optical signal fed back from the tip of the smart force feedback guidewire;

[0049] The demodulator converts the feedback optical signal into a force on the guidewire.

[0050] The demodulator feeds back the force on the guidewire to the operator.

[0051] The demodulator determines whether the force at the tip of the intelligent force feedback guidewire is greater than the first force threshold. If so, the drive unit controls the guidewire bending device to adjust the degree of bending at the tip of the intelligent force feedback guidewire.

[0052] If the force at the tip of the intelligent force feedback guidewire is less than or equal to the first force threshold, the demodulator determines whether the force at the middle end of the intelligent force feedback guidewire is greater than the second force threshold. If the force at the middle end of the intelligent force feedback guidewire is greater than the second force threshold, the operating lever controls the driving unit, and the driving unit delivers the intelligent force feedback guidewire back and forth.

[0053] The intelligent force feedback guidewire control system of this application includes an operator, a driver, and an intelligent force feedback guidewire. The operator includes an operating lever, and the driver includes a driving unit and a demodulator. The operating lever controls the driving unit, and the intelligent force feedback guidewire is mounted on the driving unit. The driving unit pushes the intelligent force feedback guidewire. The tail end of the intelligent force feedback guidewire is connected to the demodulator, which converts the feedback optical signal into force on the guidewire and feeds this force back to the operator to control the intelligent force feedback guidewire. During the delivery of the intelligent force feedback guidewire within the blood vessel by the driving unit, various parts of the guidewire experience force. The demodulator converts the received feedback optical signal into force on the guidewire and feeds this force back to the operator. The tactile feedback sensor on the operating lever of the operator can determine the force situation of the intelligent force feedback guidewire within the blood vessel. Based on the sensed force situation, the operator controls the driving unit in different ways, and the driving unit pushes the intelligent force feedback guidewire in different ways. Attached Figure Description

[0054] Figure 1 This is a schematic diagram of the structure of an intelligent force feedback guidewire control system according to an embodiment;

[0055] Figure 2 This is a schematic diagram of the structure of an intelligent force feedback guidewire according to one embodiment;

[0056] Figure 3 This is a flowchart illustrating an embodiment of an intelligent force feedback guidewire control method;

[0057] Figure 4 This is a schematic diagram illustrating the process of converting a feedback optical signal into a guidewire force according to one embodiment;

[0058] Figure 5 This is a schematic block diagram of the structure of an intelligent force feedback guidewire control device according to an embodiment;

[0059] Figure 6 This is a schematic block diagram of the structure of a computer device according to one embodiment.

[0060] The names of the components shown in the figure are as follows: 1. Operator; 11. Operator lever; 12. Display; 2. Driver; 21. Drive unit; 22. Demodulator; 3. Intelligent force feedback guide wire; 31. Head end of intelligent force feedback guide wire; 32. Spring section; 33. Hypotube section; 34. Threaded slider; 35. Coupling part; 4. Guide wire bending device.

[0061] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0062] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0063] Those skilled in the art will understand that, unless explicitly stated otherwise, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the term “comprising” as used in the specification of this application means the presence of features, integers, steps, operations, elements, units, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, units, components, and / or groups thereof. It should be understood that when we say an element is “connected” or “coupled” to another element, it can be directly connected or coupled to the other element, or there may be intermediate elements. Furthermore, “connected” or “coupled” as used herein can include wireless connections or wireless couplings. The term “and / or” as used herein includes all or any units and all combinations of one or more associated listed items.

[0064] Those skilled in the art will understand that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless specifically defined as herein.

[0065] Reference Figures 1-2 This is a schematic diagram of the intelligent force feedback guidewire control system proposed in this application. The system includes: an operator 1, a driver 2, and an intelligent force feedback guidewire 3.

[0066] The operator 1 includes an operating lever 11, and the driver 2 includes a driving unit 21 and a demodulator 22. The operating lever 11 is used to control the driving unit 21, and the intelligent force feedback guide wire 3 is disposed on the driving unit 21. The driving unit 21 is used to push the intelligent force feedback guide wire 3. The tail end of the intelligent force feedback guide wire 3 is connected to the demodulator 22. The demodulator 22 is used to convert the feedback optical signal into force on the guide wire and feed the force on the guide wire back to the operator 1 to control the intelligent force feedback guide wire 3.

[0067] The intelligent force feedback guidewire control system can be used in vascular interventional surgery in the medical field. In the operating room, the user places the tip 31 of the intelligent force feedback guidewire into the patient's body, installs the intelligent force feedback guidewire 3 onto the drive unit 21, and electrically connects the tail of the intelligent force feedback guidewire 3 to the demodulator 22 through the coupling part 35.

[0068] Preferably, the intelligent force feedback guidewire control system further includes a display 12, which is electrically connected to the demodulator 22. The display 12 receives the force on the guidewire fed back by the demodulator 22, and converts the force on the guidewire into a force image and displays the force image.

[0069] The intelligent force feedback guide wire 3 is equipped with a grating sensor. The grating sensor is connected to the head end 31 of the intelligent force feedback guide wire by laser welding or glue bonding. The grating sensor is used to reflect the light signal emitted by the demodulator 22 from the tail end of the intelligent force feedback guide wire 3.

[0070] The demodulator 22 can be a Fabry-Perot interferometer, a Mach-Zehnder interferometer, or a Michelson interferometer.

[0071] After the intelligent force feedback guidewire control system is installed, the user can use the operating lever 11 outside the operating room to sense the force of the intelligent force feedback guidewire 3 in the human blood vessel through touch. At the same time, the user can confirm the position and contact of the intelligent force feedback guidewire 3 in the human blood vessel by referring to the force image of the intelligent force feedback guidewire 3 displayed on the monitor 12.

[0072] If the intelligent force feedback guidewire 3 is determined to need adjustment based on the force exerted on it within the blood vessels, the user can operate the control lever 11 in different ways to control the drive unit 21, which in turn pushes the intelligent force feedback guidewire 3 in different ways. If the user is determined not to need adjustment based on the force exerted on it within the blood vessels, the user can operate the control lever 11 in a preset manner to control the drive unit 21, which in turn pushes the intelligent force feedback guidewire 3 in a preset manner.

[0073] During the process of the drive unit 21 pushing the intelligent force feedback guidewire 3 into the blood vessel, various parts of the intelligent force feedback guidewire 3 will be subjected to force. The demodulator 22 converts the received feedback optical signal into the force on the guidewire and feeds the force on the guidewire back to the operator 1. The force tactile sensor on the operating rod 11 of the operator 1 can sense the force on the intelligent force feedback guidewire 3 in the blood vessel. Based on the sensed force, the operator 1 controls the drive unit 21 in different ways, and the drive unit 21 pushes the intelligent force feedback guidewire 3 in different ways.

[0074] The intelligent force feedback guide wire control system of this application embodiment includes an operator 1, a driver 2, and an intelligent force feedback guide wire 3. The operator 1 includes an operating lever 11, and the driver 2 includes a driving unit 21 and a demodulator 22. The operating lever 11 is used to control the driving unit 21. The intelligent force feedback guide wire 3 is disposed on the driving unit 21, and the driving unit 21 is used to push the intelligent force feedback guide wire 3. The tail end of the intelligent force feedback guide wire 3 is connected to the demodulator 22. The demodulator 22 is used to convert the feedback optical signal into force on the guide wire and feed back the force on the guide wire to the operator 1 to control the intelligent force feedback guide wire 3. During the process of the drive unit 21 pushing the intelligent force feedback guidewire 3 into the blood vessel, various parts of the intelligent force feedback guidewire 3 will be subjected to force. The demodulator 22 converts the received feedback optical signal into the force on the guidewire and feeds the force on the guidewire back to the operator 1. The force tactile sensor on the operating rod 11 of the operator 1 can sense the force on the intelligent force feedback guidewire 3 in the blood vessel. Based on the sensed force, the operator 1 controls the drive unit 21 in different ways, and the drive unit 21 pushes the intelligent force feedback guidewire 3 in different ways.

[0075] In one embodiment, refer to Figure 2 The system also includes a guide wire bending device 4, which is disposed on the intelligent force feedback guide wire 3 and is used to adjust the bending degree of the head end 31 of the intelligent force feedback guide wire.

[0076] The intelligent force feedback guide wire 3 includes a head end 31, a spring section 32, a hyaluronic acid tube section 33, a threaded slider 34, and a coupling part 35. One end of the spring section 32 is connected to the head end 31, and the other end is connected to the hyaluronic acid tube section 33. There are two threaded sliders 34, which are respectively arranged on both sides of the intelligent force feedback guide wire 3 in the same radial direction. One end of the guide wire bending device 4 is connected to the head end 31, and the other end is connected to the threaded slider 34. The demodulator 22 is electrically connected to the tail end of the intelligent force feedback guide wire 3 through the coupling part 35. When the two threaded sliders move in opposite directions, the guide wire bending device 4 pulls the metal wire inside the intelligent force feedback guide wire 3, thereby changing the degree of bending of the head end 31.

[0077] Preferably, the intelligent force feedback guidewire control system further includes an audio prompting device, which can be a speaker, headphones, or other device capable of emitting sound. The audio prompting device is used to indicate that the tip 31 of the intelligent force feedback guidewire is subjected to excessive force and / or the middle end of the intelligent force feedback guidewire 3 is subjected to excessive force.

[0078] During the delivery of the intelligent force feedback guidewire 3 into the human blood vessel, when the force on the tip 31 of the intelligent force feedback guidewire exceeds a first force threshold, an audible warning sound is emitted indicating excessive force on the tip 31. The user, combining the tactile feedback from the operating lever 11, the force image displayed on the monitor 12, and the DSA (Digital Subtraction Angiography) image, determines whether the tip 31 of the intelligent force feedback guidewire has encountered an obstacle. If an obstacle is encountered, the type of obstacle is determined, including vascular plaque. The operating lever 11 controls the drive unit 21, which in turn controls the guidewire bending device 4 located on the intelligent force feedback guidewire. The guidewire bending device 4 pulls the metal wire inside the intelligent force feedback guidewire 3, thereby changing the degree of bending of the tip 31 of the intelligent force feedback guidewire to avoid obstacles.

[0079] Preferably, before or after changing the degree of curvature of the tip 31 of the intelligent force feedback guidewire, the method further includes using the operating lever 11 to control the drive unit 21, which controls the intelligent force feedback guidewire 3 to rotate. The rotation can be clockwise, counterclockwise, or a combination of clockwise and counterclockwise rotation.

[0080] As described above, the intelligent force feedback guide wire control system also includes a guide wire bending device 4, which is disposed on the intelligent force feedback guide wire 3. The guide wire bending device 4 is used to adjust the bending degree of the head end 31 of the intelligent force feedback guide wire. The operating lever 11 controls the drive unit 21, and the drive unit 21 controls the guide wire bending device 4 located on the intelligent force feedback guide wire. The guide wire bending device 4 pulls the metal wire inside the intelligent force feedback guide wire 3, thereby changing the bending degree of the head end 31 of the intelligent force feedback guide wire to avoid obstacles.

[0081] Reference Figure 3 This is a flowchart illustrating the intelligent force feedback guidewire control method proposed in this application. The method includes the following steps S1-S5:

[0082] S1: The operating lever controls the drive unit, which forward delivers the intelligent force feedback guidewire.

[0083] During the preparation phase, the tip 31 of the intelligent force feedback guidewire has entered the human blood vessel. The operating lever 11 controls the drive unit 21, which forwards the intelligent force feedback guidewire 3 until it reaches the target position. During the forward delivery of the intelligent force feedback guidewire 3, the tip 31, middle end, and tail end of the intelligent force feedback guidewire will all be subjected to force. The magnitude of the force depends on the stress generated by the blood vessel wall when each part of the intelligent force feedback guidewire 3 touches the blood vessel wall and the resistance encountered by the obstacle when passing through the obstacle.

[0084] The drive unit 21 is controlled by the operating lever 11. The drive unit 21 delivers the intelligent force feedback guidewire 3 forward, which can be delivered remotely. The user does not need to enter the operating room to perform the operation, which reduces the radiation exposure to the user during vascular interventional surgery.

[0085] S2: The demodulator emits an optical signal to the tip of the intelligent force feedback guidewire.

[0086] During the delivery of the intelligent force feedback guidewire 3, the demodulator 22 emits an optical signal from the tail end of the intelligent force feedback guidewire 3 to the head end 31 of the intelligent force feedback guidewire 3.

[0087] S3: The demodulator receives the feedback optical signal fed back from the tip of the intelligent force feedback guidewire.

[0088] When stress is applied to the tip 31 of the intelligent force feedback guide wire, the grating of the grating sensor will undergo slight deformation, causing the grating period to change, thereby causing a change in the wavelength of the feedback light signal.

[0089] S4: The demodulator converts the feedback optical signal into force on the guide wire.

[0090] The demodulator 22 demodulates the feedback optical signal to obtain the first feedback optical wavelength;

[0091] The demodulator 22 acquires the second feedback light wavelength of the previous feedback light signal;

[0092] The demodulator 22 calculates the change in the feedback light wavelength based on the first feedback light wavelength and the second feedback light wavelength;

[0093] The demodulator 22 calculates the change in the wavelength of the feedback light to obtain the force on the guide wire.

[0094] The demodulator 22 calculates the change in feedback light wavelength based on the first feedback light wavelength and the second feedback light wavelength, including:

[0095] The wavelength of the feedback light is calculated using the following formula:

[0096] ;

[0097] in, Λ is the effective refractive index of the optical fiber of the grating sensor, and Λ is the Bragg period of the grating sensor.

[0098] When the tip 31 of the intelligent force feedback guide wire is subjected to stress, the optical fiber of the three types of grating sensors of the intelligent force feedback guide wire will generate axial strain and radial strain. On the one hand, this causes the period of the grating of the grating sensor to change, and on the other hand, it changes the refractive index of the optical fiber of the grating sensor due to the photoelastic effect.

[0099] Regarding the current feedback optical signal Λ= , = Regarding the previous feedback optical signal, Λ= , = Because the effective refractive index of optical fibers varies, the Bragg period of the grating also varies, resulting in different wavelengths for the first and second reflected light.

[0100] The absolute value of the difference between the first and second feedback light wavelengths is taken as the change in feedback light wavelength. = , The first feedback wavelength, This is the second feedback light wavelength.

[0101] The demodulator 22 calculates the change in the wavelength of the feedback light to obtain the force on the guidewire, including:

[0102] The demodulator 22 calculates the force on the guidewire using the following formula:

[0103] ;

[0104] in, The center wavelength of the fiber optic grating. The change in the feedback light wavelength is given, k is the force sensing coefficient of the guide wire, and p e Let be the elastic-optic coefficient of the fiber grating. The guidewire is subjected to force.

[0105] The demodulator 22 calculates the change in the wavelength of the feedback light and converts the change in the wavelength of the feedback light into the force on the guide wire, which can realize real-time monitoring of the force on each part of the intelligent force feedback guide wire 3.

[0106] S5: The demodulator feeds back the force on the guidewire to the operator.

[0107] The demodulator 22 feeds back the sum of the forces on each part of the intelligent force feedback guide wire 3 to the operating lever 11 of the operator 1. The operating lever 11 then feeds back the sum of the forces to the user in the form of tactile feedback.

[0108] The demodulator 22 feeds back the force magnitude of each part of the intelligent force feedback guide wire 3 to the display 12, and the display 12 converts the force magnitude of each part into a force image and displays the force image.

[0109] By combining the tactile feedback from the operating lever 11 with the force image displayed on the monitor 12, the user can determine the actual force applied to the intelligent force feedback guidewire 3 within the blood vessel. Based on the actual force applied, the tip 31 of the intelligent force feedback guidewire can be adjusted, which can improve the efficiency of vascular interventional surgery and reduce complications caused by the delivery of the intelligent force feedback guidewire 3 during the procedure.

[0110] As described above, the intelligent force feedback guidewire control system includes an operating lever 11 controlling a drive unit 21, which forward-delivers the intelligent force feedback guidewire 3; a demodulator 22 emits a transmitted light signal to the tip 31 of the intelligent force feedback guidewire; the demodulator 22 receives the feedback light signal from the tip 31 of the intelligent force feedback guidewire; the demodulator 22 converts the feedback light signal into force on the guidewire; and the demodulator 22 feeds back the force on the guidewire to the operator 1. By combining the tactile feedback of the force from the operating lever 11 with the force image displayed on the monitor 12, the user can determine the actual force on the intelligent force feedback guidewire 3 within the blood vessel. Based on the actual force, the tip 31 of the intelligent force feedback guidewire can be adjusted, improving the efficiency of vascular interventional surgery and reducing complications caused by the delivery of the intelligent force feedback guidewire 3 during vascular interventional surgery.

[0111] In one embodiment, refer to Figure 4 The demodulator converts the feedback optical signal into the force applied to the guidewire in step S4, which includes the following steps S41-S44:

[0112] S41: The demodulator demodulates the feedback optical signal to obtain the first feedback optical wavelength.

[0113] The demodulator 22 demodulates the optical signal using wavelength demodulation, and the first feedback light wavelength is the wavelength representing the force applied to the guide wire 3 at the current moment.

[0114] S42: The demodulator acquires the second feedback light wavelength of the previous feedback light signal.

[0115] The second feedback light wavelength represents the wavelength of the force applied to the intelligent force feedback guidewire 3 at the previous moment.

[0116] The time interval between the previous moment and the current moment is a preset time interval, preferably set to 0.5 seconds.

[0117] S43: The demodulator calculates the change in the feedback light wavelength based on the first feedback light wavelength and the second feedback light wavelength.

[0118] When the intelligent force feedback guidewire 3 touches the blood vessel wall or passes through an obstacle such as a blood vessel plaque, the force on the guidewire of the intelligent force feedback guidewire 3 increases, and the corresponding feedback light wavelength increases.

[0119] If the intelligent force feedback guidewire 3 touches the blood vessel wall or passes through an obstacle at the current moment, and the intelligent force feedback guidewire 3 did not touch the blood vessel wall or pass through an obstacle at the previous moment, then the wavelength of the first feedback light at the current moment is longer than the wavelength of the second feedback light at the previous moment, and the change in the wavelength of the feedback light is a positive number.

[0120] S44: The demodulator calculates the change in the wavelength of the feedback light to obtain the force on the guide wire.

[0121] The demodulator calculates the force on the guidewire using the following formula:

[0122] ;

[0123] in, The center wavelength of the fiber optic grating. The change in the feedback light wavelength is given, k is the force sensing coefficient of the guide wire, and p e Let be the elastic-optic coefficient of the fiber grating. The guidewire is subjected to force.

[0124] The center wavelength of the fiber Bragg grating, the force sensing coefficient of the guide wire, and the elastic-optical coefficient of the fiber Bragg grating are fixed values. The greater the change in the feedback light wavelength, the greater the force on the guide wire; the smaller the change in the feedback light wavelength, the smaller the force on the guide wire.

[0125] The force on the guidewire can be calculated by the change in the feedback wavelength between two adjacent feedback wavelengths. The optical signal is converted into a force signal, which can obtain the force situation of the intelligent force feedback guidewire 3 in human blood vessels without damaging the human body.

[0126] As described above, the demodulator 22 converts the feedback optical signal into guidewire force, including demodulating the feedback optical signal to obtain the first feedback optical wavelength. The demodulator 22 then acquires the second feedback optical wavelength of the previous feedback optical signal and calculates the change in feedback optical wavelength based on the first and second wavelengths. The demodulator 22 calculates the guidewire force based on this change in wavelength. By calculating the change in feedback optical wavelength between two adjacent feedback optical wavelengths, the guidewire force can be calculated, converting the optical signal into a force signal. This allows for the acquisition of the force on the intelligent force feedback guidewire 3 within the human blood vessels without damaging the human body.

[0127] In one embodiment, after the demodulator calculates the change in the wavelength of the feedback light to obtain the force on the guide wire in step S44, the following steps S45'-S46' are further included:

[0128] S45': The demodulator determines whether the force at the tip of the intelligent force feedback guidewire is greater than the first force threshold. If so, the drive unit controls the guidewire bending device, and the guidewire bending device adjusts the degree of bending at the tip of the intelligent force feedback guidewire.

[0129] When the force on the tip 31 of the intelligent force feedback guidewire exceeds the first force threshold, the intelligent force feedback guidewire 3 may pass through an obstacle. The audible warning device will emit a warning sound indicating that the tip 31 of the intelligent force feedback guidewire is under excessive force. The warning sound can be a preset voice message or an alarm sound without voice. The drive unit 21 controls the guidewire bending device 4, which pulls the metal wire inside the intelligent force feedback guidewire 3, thereby changing the degree of bending of the tip 31 of the intelligent force feedback guidewire to avoid obstacles.

[0130] S46': If the force at the tip of the intelligent force feedback guidewire is less than or equal to the first force threshold, the demodulator determines whether the force at the middle end of the intelligent force feedback guidewire is greater than the second force threshold. If the force at the middle end of the intelligent force feedback guidewire is greater than the second force threshold, the operating lever controls the driving unit, and the driving unit delivers the intelligent force feedback guidewire back and forth.

[0131] If the force on the tip 31 of the intelligent force feedback guidewire is less than or equal to the first force threshold, it indicates that the tip 31 of the intelligent force feedback guidewire is not subject to resistance from obstacles. The system then checks if the force on the middle section of the intelligent force feedback guidewire 3 is greater than the second force threshold. If so, it indicates that the middle section of the intelligent force feedback guidewire 3 is subject to some resistance, and the intelligent force feedback guidewire 3 may be located in a tortuous section of the blood vessel. The audible alert device then emits a warning sound indicating excessive force on the middle section of the intelligent force feedback guidewire 3. The user controls the drive unit 21 via the control lever 11. The drive unit 21 delivers the intelligent force feedback guidewire 3 back and forth, allowing the intelligent force feedback guidewire 3 to pass through the tortuous section of the blood vessel.

[0132] By judging the magnitude of the force on the tip 31 and the middle of the intelligent force feedback guidewire, the intelligent force feedback guidewire 3 can be operated accordingly, so that the intelligent force feedback guidewire 3 can avoid obstacles or pass through tortuous parts of blood vessels.

[0133] As described above, after the demodulator 22 calculates the change in the wavelength of the feedback light and obtains the force on the guidewire, it also determines whether the force on the tip 31 of the intelligent force feedback guidewire is greater than a first force threshold. If so, the drive unit 21 controls the guidewire bending device 4 to adjust the degree of bending of the tip 31 of the intelligent force feedback guidewire. If the force on the tip 31 of the intelligent force feedback guidewire is less than or equal to the first force threshold, the demodulator 22 determines whether the force on the middle end of the intelligent force feedback guidewire is greater than a second force threshold. If the force on the middle end of the intelligent force feedback guidewire is greater than the second force threshold, the operating lever 11 controls the drive unit 21 to deliver the intelligent force feedback guidewire 3 back and forth. By determining the magnitude of the force on the tip 31 and the middle end of the intelligent force feedback guidewire, corresponding operations can be performed on the intelligent force feedback guidewire 3, enabling it to avoid obstacles or pass through tortuous parts of blood vessels.

[0134] In one embodiment, after step S5 where the demodulator feeds back the force on the guidewire to the operator, the following steps S61'-S62' are further included:

[0135] S61': The demodulator determines whether the intelligent force feedback guidewire is located at the target position. If so, the drive unit stops delivering the intelligent force feedback guidewire forward.

[0136] The target location is the site where surgery needs to be performed during vascular interventional surgery. Based on the tactile feedback on the operating lever 11 and the force image displayed on the monitor 12, combined with the DSA image, the user can determine whether the intelligent force feedback guidewire 3 has reached the vicinity of the target location. If the intelligent force feedback guidewire 3 has reached the vicinity of the target location, the demodulator 22 calculates the change in the wavelength of the feedback light.

[0137] If the target location is the location of the vascular plaque that needs to be removed, when the change in the feedback light wavelength is greater than the first threshold for the change in the feedback light wavelength, the intelligent force feedback guidewire 3 is located at the target location, and the drive unit 21 stops delivering the intelligent force feedback guidewire 3 forward.

[0138] If the target location is a non-vascularized plaque area where vascularization is required, and the change in feedback light wavelength is less than the second feedback light wavelength change threshold, the intelligent force feedback guidewire 3 is at the target location, and the drive unit 21 stops delivering the intelligent force feedback guidewire 3 forward. The first feedback light wavelength change threshold is greater than the second feedback light wavelength change threshold.

[0139] S62': If the intelligent force feedback guidewire is not located at the target position, the drive unit continues to deliver the intelligent force feedback guidewire forward or backward.

[0140] When the intelligent force feedback guidewire 3 is not in the target position, the user determines whether to continue forward or backward delivery based on the force tactile feedback on the operating lever 11 and the force image displayed on the display 12, combined with the DSA image.

[0141] If forward delivery is required, the user controls the operating lever 11, which in turn controls the drive unit 21, which then delivers the intelligent force feedback guidewire 3 forward. If backward delivery is required, the user controls the operating lever 11, which in turn controls the drive unit 21, which then delivers the intelligent force feedback guidewire 3 backward.

[0142] If the user cannot determine whether the intelligent force feedback guidewire 3 needs to be delivered forward or backward, the user will not operate the operating lever 11, and the intelligent force feedback guidewire 3 will remain stationary.

[0143] By determining whether to continue delivering the intelligent force feedback guidewire 3, it is possible to accurately deliver the intelligent force feedback guidewire 3 to the target position, provided that the intelligent force feedback guidewire 3 is near the target position.

[0144] As described above, after the demodulator 22 feeds back the force feedback of the guide wire to the operator 1, it also determines whether the intelligent force feedback guide wire 3 is located at the target position. If so, the drive unit 21 stops delivering the intelligent force feedback guide wire 3 forward. If the intelligent force feedback guide wire 3 is not located at the target position, the drive unit 21 continues to deliver the intelligent force feedback guide wire 3 forward or backward. By determining whether to continue delivering the intelligent force feedback guide wire 3 based on whether it is located at the target position, the intelligent force feedback guide wire 3 can be accurately delivered to the target position even when it is near the target position.

[0145] Reference Figure 5 This is a schematic block diagram of an intelligent force feedback guidewire control device proposed in this application. The device includes:

[0146] A forward delivery module 100 is used by the operating lever 11 to control the drive unit 21, which forwardly delivers the intelligent force feedback guide wire 3.

[0147] The optical signal transmitting module 200 is used by the demodulator 22 to transmit an optical signal to the head end 31 of the intelligent force feedback guide wire;

[0148] The optical signal receiving module 300 is used by the demodulator 22 to receive the feedback optical signal fed back from the head end 31 of the intelligent force feedback guide wire;

[0149] The guidewire force conversion module 400 is used by the demodulator 22 to convert the feedback optical signal into guidewire force.

[0150] The guide wire force feedback module 500 is used by the demodulator 22 to feed back the force on the guide wire to the operator 1.

[0151] The aforementioned intelligent force feedback guidewire control device can realize the intelligent force feedback guidewire control method.

[0152] In one embodiment, the guidewire force conversion module 400 further includes:

[0153] The first feedback light wavelength acquisition unit is used by the demodulator 22 to demodulate the feedback light signal to obtain the first feedback light wavelength;

[0154] The second feedback light wavelength acquisition unit is used by the demodulator 22 to acquire the second feedback light wavelength of the previous feedback light signal;

[0155] The feedback light wavelength change calculation unit is used by the demodulator 22 to calculate the feedback light wavelength change based on the first feedback light wavelength and the second feedback light wavelength.

[0156] The guide wire stress calculation unit is used by the demodulator 22 to calculate the change in the wavelength of the feedback light and obtain the stress on the guide wire.

[0157] In one embodiment, the guidewire force calculation unit further includes:

[0158] The guidewire stress calculation subunit is used by the demodulator 22 to calculate the force on the guidewire using the following formula:

[0159] ;

[0160] in, The center wavelength of the fiber optic grating. The change in the feedback light wavelength is given, k is the force sensing coefficient of the guide wire, and p e Let be the elastic-optic coefficient of the fiber grating. The guidewire is subjected to force.

[0161] In one embodiment, the intelligent force feedback guidewire control device further includes:

[0162] The bending degree adjustment module is used by the demodulator 22 to determine whether the force on the head end 31 of the intelligent force feedback guide wire is greater than the first force threshold. If so, the drive unit 21 controls the guide wire bending device 4, and the guide wire bending device 4 adjusts the bending degree of the head end 31 of the intelligent force feedback guide wire.

[0163] The intelligent force feedback guide wire reciprocating delivery module is used to determine whether the force at the middle end of the intelligent force feedback guide wire is greater than a second force threshold if the force at the head end 31 of the intelligent force feedback guide wire is less than or equal to the first force threshold. If the force at the middle end of the intelligent force feedback guide wire is greater than the second force threshold, the operating lever 11 controls the driving unit 21, and the driving unit 21 reciprocates the intelligent force feedback guide wire 3.

[0164] In one embodiment, the intelligent force feedback guidewire control device further includes:

[0165] The forward delivery module is stopped, which is used by the demodulator 22 to determine whether the intelligent force feedback guide wire 3 is located at the target position. If so, the drive unit 21 stops forward delivery of the intelligent force feedback guide wire 3.

[0166] The delivery module is configured to allow the drive unit 21 to continue delivering the intelligent force feedback guidewire 3 forward or backward if the intelligent force feedback guidewire 3 is not located at the target position.

[0167] Reference Figure 6 This application also provides a computer device, which may be a server, and its internal structure may be as follows: Figure 6 As shown. The computer device includes a processor, memory, network interface, and database connected via a system bus. The processor in this computer design provides computing and control capabilities. The memory of the computer device includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the computer device is used to store a first subset of the image to be enhanced, etc. The network interface of the computer device is used for communication with external terminals via network connection. Furthermore, the above-mentioned computer device may also be equipped with input devices and a display screen, etc. When the computer program is executed by the processor, it implements an intelligent force feedback guidewire control method.

[0168] The processor executes the intelligent force feedback guidewire control method, including:

[0169] The operating lever 11 controls the drive unit 21, which forward delivers the intelligent force feedback guide wire 3.

[0170] The demodulator 22 emits an optical signal to the tip 31 of the intelligent force feedback guidewire;

[0171] The demodulator 22 receives the feedback optical signal fed back from the head end 31 of the smart force feedback guidewire;

[0172] The demodulator 22 converts the feedback optical signal into the force on the guide wire;

[0173] The demodulator 22 feeds back the force on the guidewire to the manipulator 1.

[0174] Those skilled in the art will understand that Figure 6 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer equipment on which the present application is applied.

[0175] One embodiment of this application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements an intelligent force feedback guidewire control method. It is understood that the computer-readable storage medium in this embodiment can be a volatile readable storage medium or a non-volatile readable storage medium.

[0176] The above-mentioned intelligent force feedback guidewire control method includes:

[0177] The operating lever 11 controls the drive unit 21, which forward delivers the intelligent force feedback guide wire 3.

[0178] The demodulator 22 emits an optical signal to the tip 31 of the intelligent force feedback guidewire;

[0179] The demodulator 22 receives the feedback optical signal fed back from the head end 3 of the smart force feedback guidewire;

[0180] The demodulator 22 converts the feedback optical signal into the force on the guide wire;

[0181] The demodulator 22 feeds back the force on the guidewire to the manipulator 1.

[0182] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the methods described above. Any references to memory, storage, databases, or other media used in this application and in the embodiments can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual-rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0183] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, apparatus, article, or method. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, apparatus, article, or method that includes that element.

[0184] The above description is only a preferred embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural changes made based on the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. An intelligent force feedback guidewire control system, characterized in that, Includes actuators, drivers, and intelligent force feedback guidewires. The operator includes an operating lever, and the driver includes a driving unit and a demodulator. The operating lever is used to control the driving unit, and the intelligent force feedback guidewire is disposed on the driving unit. The driving unit is used to push the intelligent force feedback guidewire. The tail end of the intelligent force feedback guidewire is connected to the demodulator, and the demodulator is used to convert the feedback optical signal into force on the guidewire and feed the force on the guidewire back to the operator to control the intelligent force feedback guidewire. The system also includes a guide wire bending device for adjusting the degree of bending at the tip of the intelligent force feedback guide wire; The demodulator determines whether the force at the tip of the intelligent force feedback guidewire is greater than a first force threshold. If so, the drive unit controls the guidewire bending device to adjust the degree of bending at the tip of the intelligent force feedback guidewire. If the force at the tip of the intelligent force feedback guidewire is less than or equal to the first force threshold, the demodulator determines whether the force at the middle end of the intelligent force feedback guidewire is greater than the second force threshold. If the force at the middle end of the intelligent force feedback guidewire is greater than the second force threshold, the operating lever controls the driving unit, and the driving unit delivers the intelligent force feedback guidewire back and forth.

2. The intelligent force feedback guidewire control system according to claim 1, characterized in that, The guide wire bending device is installed on the intelligent force feedback guide wire.

3. The intelligent force feedback guidewire control system according to claim 2, characterized in that, The operating lever controls the drive unit, which forward-delivers the intelligent force feedback guidewire; The demodulator emits an optical signal to the tip of the intelligent force feedback guidewire; The demodulator receives the feedback optical signal fed back from the tip of the smart force feedback guidewire; The demodulator converts the feedback optical signal into the force on the guidewire; The demodulator feeds back the force applied to the guidewire to the manipulator.

4. The intelligent force feedback guidewire control system according to claim 3, characterized in that, The demodulator converts the feedback optical signal into force on the guidewire, including: The demodulator demodulates the feedback optical signal to obtain the first feedback optical wavelength; The demodulator acquires the second feedback light wavelength of the previous feedback light signal; The demodulator calculates the change in the feedback light wavelength based on the first feedback light wavelength and the second feedback light wavelength; The demodulator calculates the change in the wavelength of the feedback light to obtain the force on the guide wire.

5. The intelligent force feedback guidewire control system according to claim 4, characterized in that, The demodulator calculates the change in the wavelength of the feedback light to obtain the force on the guidewire, including: The demodulator calculates the force on the guidewire using the following formula: ； in, The center wavelength of the fiber optic grating. The change in the feedback light wavelength is given, k is the force sensing coefficient of the guide wire, and p e Let be the elastic-optic coefficient of the fiber grating. The guidewire is subjected to force.

6. The intelligent force feedback guidewire control system according to claim 3, characterized in that, After the demodulator feeds back the force on the guidewire to the operator, it also includes: The demodulator determines whether the intelligent force feedback guidewire is located at the target position. If so, the drive unit stops delivering the intelligent force feedback guidewire forward. If the intelligent force feedback guidewire is not located at the target position, the drive unit continues to deliver the intelligent force feedback guidewire forward or backward.

7. A smart force feedback guidewire control device, characterized in that, include: A forward delivery module is used for the lever control drive unit, which forward delivers the intelligent force feedback guidewire; The optical signal transmitting module is used by the demodulator to send an optical signal to the head end of the intelligent force feedback guidewire; An optical signal receiving module is used by the demodulator to receive feedback optical signals fed back from the head end of the intelligent force feedback guidewire; The guidewire force conversion module is used by the demodulator to convert the feedback optical signal into guidewire force. The guidewire force feedback module is used by the demodulator to feed back the force on the guidewire to the operator. The bending degree adjustment module is used by the demodulator to determine whether the force at the head end of the intelligent force feedback guidewire is greater than a first force threshold. If so, the drive unit controls the guidewire bending device to adjust the bending degree of the head end of the intelligent force feedback guidewire. The intelligent force feedback guidewire reciprocating delivery module is used to determine whether the force at the middle end of the intelligent force feedback guidewire is greater than a second force threshold if the force at the tip of the intelligent force feedback guidewire is less than or equal to the first force threshold. If the force at the middle end of the intelligent force feedback guidewire is greater than the second force threshold, the operating lever controls the driving unit to reciprocate the intelligent force feedback guidewire.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it performs the following steps: An operating lever controls a drive unit that forward-delivers a smart force feedback guidewire. The demodulator emits a light signal to the tip of the intelligent force feedback guidewire; The demodulator receives the feedback optical signal fed back from the tip of the smart force feedback guidewire; The demodulator converts the feedback optical signal into a force on the guidewire. The demodulator feeds back the force on the guidewire to the operator. The demodulator determines whether the force at the tip of the intelligent force feedback guidewire is greater than the first force threshold. If so, the drive unit controls the guidewire bending device to adjust the degree of bending at the tip of the intelligent force feedback guidewire. If the force at the tip of the intelligent force feedback guidewire is less than or equal to the first force threshold, the demodulator determines whether the force at the middle end of the intelligent force feedback guidewire is greater than the second force threshold. If the force at the middle end of the intelligent force feedback guidewire is greater than the second force threshold, the operating lever controls the driving unit, and the driving unit delivers the intelligent force feedback guidewire back and forth.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it performs the following steps: An operating lever controls a drive unit that forward-delivers a smart force feedback guidewire. The demodulator emits a light signal to the tip of the intelligent force feedback guidewire; The demodulator receives the feedback optical signal fed back from the tip of the smart force feedback guidewire; The demodulator converts the feedback optical signal into a force on the guidewire. The demodulator feeds back the force on the guidewire to the operator. The demodulator determines whether the force at the tip of the intelligent force feedback guidewire is greater than the first force threshold. If so, the drive unit controls the guidewire bending device to adjust the degree of bending at the tip of the intelligent force feedback guidewire. If the force at the tip of the intelligent force feedback guidewire is less than or equal to the first force threshold, the demodulator determines whether the force at the middle end of the intelligent force feedback guidewire is greater than the second force threshold. If the force at the middle end of the intelligent force feedback guidewire is greater than the second force threshold, the operating lever controls the driving unit, and the driving unit delivers the intelligent force feedback guidewire back and forth.

Images