Interventional robotic system and readable storage medium

Abstract

The application provides an interventional robot system and a readable storage medium, the interventional robot system comprises an execution device, a control device and a prompt module; the control device is used for acquiring application scene information and issuing a control instruction according to the application scene information, and the execution device is used for receiving and executing the control instruction; the prompt module is configured to prompt instrument arrangement information associated with the execution device according to the application scene information. In this way, based on the setting of the prompt module, the control device can prompt appropriate instrument arrangement information according to the application scene information to prompt and guide the process of instrument arrangement, thereby reducing the learning burden and learning time length of inexperienced doctors, reducing the time consumed by intraoperative instrument arrangement, and optimizing the surgical procedure.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to an interventional robotic system and a readable storage medium. Background Technology

[0002] In interventional procedures, surgical instruments such as guidewires, catheters, and balloon stents need to be delivered into the body. In neurointerventions, vascular interventions, and coronary interventions, the surgical instruments used are largely similar or identical. However, in some more complex surgeries, in addition to the aforementioned instruments, microcatheters or dual guidewires are also required. Traditional surgical robots are generally only compatible with one type of surgery, such as vascular or neurointerventions, and have a limited range of instruments that can be delivered, making them unsuitable for complex surgeries. Additional surgical devices are needed to establish access, resulting in a larger surgical area. Furthermore, in complex surgeries, the placement of various functional instruments relies heavily on the surgeon's experience. Inexperienced surgeons require a lengthy training period to learn, and the placement of these instruments during the procedure takes considerable time, extending the overall surgical time. Summary of the Invention

[0003] The purpose of this invention is to provide an interventional robotic system and a readable storage medium to address the problems existing in current surgical robots when dealing with complex surgeries.

[0004] To address the aforementioned technical problems, the present invention provides an interventional robot system, which includes an execution device, a control device, and a prompting module;

[0005] The control device is used to acquire application scenario information and issue control commands based on the application scenario information; the execution device is used to receive and execute the control commands; the prompting module is configured to prompt the instrument arrangement information associated with the execution device based on the application scenario information.

[0006] Optionally, the interventional robot system further includes a drive module, and the execution device includes a base, a catheter module, and a functional module. The catheter module is disposed on the base; the functional module is movably disposed on the base along the axial direction of the base.

[0007] The catheter module is used to connect to a catheter; the functional module is used to select one of a plurality of alternative functions as the current function, and is used to connect to the functional device corresponding to the selected function.

[0008] The control device is used to control the drive module to drive the functional module to move along the axial direction of the base.

[0009] Optionally, the instrument arrangement information includes at least one of the following:

[0010] 1. The arrangement order information of the catheter module and each of the functional modules along the base;

[0011] 2. Axial spacing information between the catheter module and the adjacent functional module, and axial spacing information between two adjacent functional modules;

[0012] III. Recommended specifications for the catheters corresponding to the catheter module;

[0013] IV. Recommended specifications for the functional instruments corresponding to each of the aforementioned functional modules.

[0014] Optionally, the interventional robot system further includes a training module;

[0015] The training module is configured to train the duct module and the functional selection and arrangement of each of the functional modules according to the application scenario information, and update the training database.

[0016] The prompting module is configured to prompt the equipment deployment information based on the training database and the current application scenario information.

[0017] Optionally, the interventional robot system further includes a data collection module;

[0018] The data collection module is used to collect patient information and / or the device placement information;

[0019] The training module is configured to train the duct module and the functional selection and arrangement of each of the functional modules based on the application scenario information and the information collected by the data collection module.

[0020] Optionally, the interventional robot system further includes a training module and a data collection module;

[0021] The data collection module is used to collect the driving information of the driving module;

[0022] The training module is configured to train the driving signals of the functional module based on the driving information collected by the data collection module, and update the training database.

[0023] The drive module is configured to drive the functional module to move along the axial direction of the base under the control of the control device, based on the input operation information and the training database.

[0024] Optionally, the interventional robot system further includes a data collection module and a training module;

[0025] The data collection module is used to collect patient information;

[0026] The training module is configured to train the recognition of application scenarios based on the patient information collected by the data collection module, and update the training database.

[0027] The control device is configured to identify and obtain the current application scenario information based on the current patient information collected by the training database and the data collection module.

[0028] Optionally, the control device is configured to acquire the current application scenario information based on input.

[0029] Optionally, the prompting module includes a display device for displaying the instrument arrangement information.

[0030] Optionally, the actuator further includes a movable base, which is movably disposed on the base along the axial direction of the base; the functional module is movably disposed on the movable base along the axial direction of the base, and is disposed on the base via the movable base.

[0031] Optionally, the alternative functions include guidewire delivery function, microcatheter delivery function, balloon delivery function, and idle function.

[0032] To address the aforementioned technical problems, the present invention also provides a readable storage medium storing a program applied to the interventional robot system described above; when the program is executed, it performs the following steps:

[0033] Obtain application scenario information, and based on the application scenario information, prompt the instrument layout information associated with the execution device.

[0034] Optionally, the instrument arrangement information includes at least one of the following:

[0035] 1. The arrangement order information of the catheter module and each of the functional modules along the base;

[0036] 2. Axial spacing information between the catheter module and the adjacent functional module, and axial spacing information between two adjacent functional modules;

[0037] III. Recommended specifications for the catheters corresponding to the catheter module;

[0038] IV. Recommended specifications for the functional instruments corresponding to each of the aforementioned functional modules.

[0039] Optionally, the step of obtaining application scenario information and, based on the application scenario information, prompting the instrument layout information associated with the execution device includes:

[0040] The function selection and arrangement of the conduit module and each functional module are trained based on the application scenario information, and the training database is updated.

[0041] Based on the training database and the current application scenario information, the device deployment information is displayed.

[0042] Optionally, the step of training the selection and arrangement of functions of the conduit module and each functional module based on the application scenario information includes:

[0043] Collect patient information and / or device placement information, and based on the application scenario information, train the function selection and placement of the catheter module and each of the functional modules based on the collected patient information and / or device placement information;

[0044] Optionally, when the program is executed, it also performs the following steps:

[0045] Collect driving information from the driving module; train the driving signals of the functional module based on the collected driving information, and update the training database;

[0046] Based on the input operation information and the training database, the functional module is driven to move along the axial direction of the base.

[0047] Optionally, when the program is executed, it also performs the following steps:

[0048] Collect patient information;

[0049] The system is trained to identify application scenarios based on the collected patient information, and the training database is updated accordingly.

[0050] Based on the training database and the current patient information collected by the data collection module, the current application scenario information is identified and obtained.

[0051] In summary, in the interventional robot system and readable storage medium provided by the present invention, the interventional robot system includes an execution device, a control device, and a prompting module; the control device is used to acquire application scenario information and issue control commands according to the application scenario information; the execution device is used to receive and execute the control commands; the prompting module is configured to prompt the instrument arrangement information associated with the execution device according to the application scenario information.

[0052] With this configuration, based on the prompting module, the control device can provide appropriate instrument placement information according to the application scenario, thereby prompting and guiding the instrument placement process. This reduces the learning burden and learning time for inexperienced doctors, decreases the time spent on instrument placement during surgery, and optimizes the surgical procedure. Attached Figure Description

[0053] Those skilled in the art will understand that the accompanying drawings are provided to better understand the invention and do not constitute any limitation on the scope of the invention. Wherein:

[0054] Figure 1 This is a schematic diagram of the interventional robot system according to an embodiment of the present invention;

[0055] Figure 2 This is a schematic diagram of the execution device according to an embodiment of the present invention;

[0056] Figure 3 This is a top view of the execution device according to an embodiment of the present invention;

[0057] Figure 4 This is a schematic diagram of a functional device corresponding to an application scenario in an embodiment of the present invention;

[0058] Figure 5 This is a schematic diagram of another driving structure according to an embodiment of the present invention;

[0059] Figure 6 This is a schematic diagram of a functional device corresponding to another application scenario of an embodiment of the present invention;

[0060] Figure 7 This is a schematic diagram illustrating an application scenario of the interventional robot system according to an embodiment of the present invention;

[0061] Figure 8a and Figure 8b This is a schematic diagram of scene recognition according to an embodiment of the present invention;

[0062] Figure 9 This is a schematic diagram illustrating the learning principles of scene recognition and device recognition in an embodiment of the present invention;

[0063] Figure 10a and Figure 10b This is a schematic diagram of the driver learning principle of the driver module in an embodiment of the present invention;

[0064] Figure 11 This is a surgical flowchart of the interventional robot system according to an embodiment of the present invention;

[0065] Figure 12 This is a schematic diagram of the prompts and recommendations from the prompting module and the instrument layout modified by the surgeon in an embodiment of the present invention. Detailed Implementation

[0066] To make the objectives, advantages, and features of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the drawings are all in a very simplified form and are not drawn to scale, and are only used to facilitate and clarify the explanation of the embodiments of this invention. Furthermore, the structures shown in the drawings are often part of the actual structures. In particular, different figures may emphasize different aspects and may sometimes use different scales.

[0067] As used herein, the singular forms “a,” “an,” and “the” include plural objects; the term “or” is generally used to mean “and / or”; the term “a number” is generally used to mean “at least one”; and the term “at least two” is generally used to mean “two or more”. Furthermore, the terms “first,” “second,” and “third” are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as “first,” “second,” or “third” may explicitly or implicitly include one or at least two of that feature; “one end” and “the other end,” and “proximal end” and “distal end” generally refer to two corresponding portions, which include not only endpoints. The terms “proximal end” and “distal end” are defined herein in relation to an operator, such as a surgeon or clinician. The term “proximal end” refers to the position of the element closer to the operator, and the term “distal end” refers to the position of the element closer to the patient’s affected area and therefore further away from the operator. Furthermore, the terms "installed," "connected," and "attached," as used in this invention, and the term "set" on one element from another, should be interpreted broadly. They generally only indicate a connection, coupling, cooperation, or transmission relationship between the two elements, which can be direct or indirect through an intermediate element. They should not be construed as indicating or implying a spatial relationship between the two elements, meaning one element can be located inside, outside, above, below, or to one side of another element, unless otherwise explicitly stated. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances. Additionally, directional terms such as above, below, up, down, upward, downward, left, and right are used relative to exemplary embodiments as shown in the figures, with upward or upper directions pointing towards the top of the corresponding figure, and downward or lower directions pointing towards the bottom of the corresponding figure.

[0068] The purpose of this invention is to provide an interventional robotic system and a readable storage medium to address the problems existing in current surgical robots when dealing with complex surgeries. The following description refers to the accompanying drawings.

[0069] Figure 1An application scenario of an interventional robotic system is illustrated. The system includes an execution device 100, a control device 200, and a prompting module (not shown). The control device 200 acquires application scenario information and issues control commands based on this information. The execution device 100 receives and executes these control commands. The prompting module is configured to display instrument arrangement information associated with the execution device 100 based on the application scenario information. This instrument arrangement information refers to the layout and specifications of surgical instruments related to the specific configuration and function selection of the current execution device 100. The specific content of the instrument arrangement information can be modified according to different application scenario information.

[0070] With this configuration, based on the setting of the prompting module, the control device 200 can provide appropriate instrument placement information according to the application scenario information, thereby prompting and guiding the instrument placement process. This reduces the learning burden and learning time for inexperienced doctors, decreases the time spent on instrument placement during surgery, and optimizes the surgical procedure. Optionally, the prompting module includes a display device for displaying instrument placement information for the surgeon's observation. Of course, in other embodiments, the prompting module may also include audio-visual prompting devices, etc., and this embodiment is not limited to this.

[0071] Optionally, the interventional robotic system also includes a robotic arm 300 and a support device 400. The robotic arm 300 is preferably a spatial configuration mechanism with multiple degrees of freedom, and the actuator 100 is located at the distal end (i.e., the end effector) of the robotic arm 300. The support device 400 is used to support the surgical object (such as a patient) during surgery; the support device 400 is, for example, a DSA bed or other surgical operating platform, and this invention is not limited thereto.

[0072] For further details, please refer to the following references. Figure 2 and Figure 3 In one exemplary embodiment, the actuator 100 includes a base 110, a conduit module 120, and a functional module 130. The conduit module 120 is disposed on the base 110; the functional module 130 is movably disposed on the base 110 along the axial direction of the base 110; the conduit module 120 is used to connect with the conduit 500 (see...). Figure 4The functional module 130 is used to select one of multiple alternative functions as the current function and connects to the corresponding functional instrument. Furthermore, the interventional robot system also includes a drive module 210, and a control device 200 controls the drive module 210 to drive the functional module 130 to move axially along the base 110. It should be noted that the catheter module 120 can drive the catheter 500 to move forward and backward along the base 110. The functional module 130 is connected to the corresponding functional instrument; when the functional module 130 moves axially along the base 110, it will drive the connected functional instrument to move forward and backward along the axial direction. Preferably, the execution device 100 includes two or more functional modules 130.

[0073] In one embodiment, the actuator 100 further includes a movable base 140, which is movably disposed on the base 110 along the axial direction of the base 110. Functional modules 130 are movably disposed on the movable base 140 along the axial direction of the base 110, and are also disposed on the base 110 via the movable base 140. With this configuration, when the movable base 140 moves along the axial direction of the base 110, it can carry the functional modules 130 disposed thereon, allowing the functional instruments connected to each functional module 130 to move synchronously forward and backward. Furthermore, each functional module 130 can also move independently along the axial direction of the base 110 on the movable base 140, thereby satisfying the requirement for independent forward and backward movement of each functional instrument.

[0074] Please refer to Figures 1 to 3 and in conjunction with references Figure 6 Optionally, the robotic arm 300 is mounted on a trolley or base, positioned to the side or above the support device 400. Alternative functions include guidewire delivery, microcatheter delivery, balloon delivery, and an unused function. Understandably, the functional instrument corresponding to the guidewire delivery function is the guidewire 510, the functional instrument corresponding to the microcatheter delivery function is the microcatheter 520, the functional instrument corresponding to the balloon delivery function is the balloon stent 530, and the unused functional module 130 is not connected to any functional instrument and serves as a backup. Several functional modules 130 on the actuator 100 can be selected and arranged from multiple alternative functions according to different application scenarios. It should be understood that in different application scenarios, the same functional module 130 can select different functions, thereby connecting with different functional instruments.

[0075] exist Figures 1 to 3 In the illustrated example, the actuator 100 includes three functional modules 130 arranged sequentially from distal to proximal along the axial direction of the base 110, and each module is capable of moving independently along the axial direction of the base 110 under the drive of the drive module 210. Please refer to the reference. Figure 2In one application scenario, from the remote end ( Figure 2 (Lower left end) to proximal end ( Figure 2 (At the upper right end), the three functional modules 130 are configured with the following functions: guidewire delivery, balloon delivery, and idle. Correspondingly, the two distal functional modules 130 are connected to the guidewire 510 and the balloon stent 530, respectively, while the proximal functional module 130 is idle and not connected to any functional device, serving as a backup. Thus, the two distal functional modules 130 can independently drive the guidewire 510 and the balloon stent 530 to move axially along the base 110.

[0076] For further information, please refer to the following: Figure 2 and Figure 3 In one embodiment, the conduit module 120 is fixedly disposed on the base 110. The conduit module 120 includes a conduit drive part 121, which is used for connecting the conduit 500 and can drive the conduit 500 to move forward and backward along the axial direction of the base 110. Preferably, it can also drive the conduit 500 to rotate around its own axis. The base 110 has a first slide rail 122 extending along the axial direction. The movable seat 140 is movably disposed on the first slide rail 122 along the axial direction of the base 110. The movable seat 140 has a second slide rail 141 extending along the axial direction of the base 110. Three functional modules 130 are respectively disposed on the second slide rail 141 and can slide independently along the second slide rail 141. Of course, in some application scenarios, some functional modules 130 can converge and be fixedly connected with adjacent functional modules 130, for example, corresponding to Figure 4 In the application scenario shown, the function of the near-end functional module 130 is unused, combined with Figure 2 and Figure 3 The two functional modules 130 located at the proximal end converge and are fixed together, and are configured to move together. Of course, in other embodiments, the unused functional module 130 located at the proximal end can be moved to the proximal travel limit position, without participating in the movement and driving of the other functional modules 130.

[0077] like Figure 2 and Figure 3 As shown, in an alternative example, the drive module 210 includes a motor 211, a gear, and a rack 213. The motor 211 is fixedly mounted on the functional module 130, the rack 213 is fixedly mounted on the movable seat 140 along the axial direction of the base 110, and the gear is fixedly mounted on the output shaft of the motor 211 and meshes with the rack 213. Thus, when the motor 211 rotates, it can drive the functional module 130 to move along the second slide rail 141 via the gear and rack 213. Figure 2 and Figure 3In the illustrated example, the two functional modules 130 at the far end are each equipped with two sets of motors 211 and gears. The functional module 130 at the near end converges with and is fixed to the functional module 130 in the middle, and does not have motors 211 and gears on it. Optionally, all functional modules 130 can share the same rack 213. Furthermore, the drive module 210 can also be used to drive the moving seat 140 to move along the second slide rail 141. Its structure can refer to the structure of the drive functional module 130 described above. For example, a motor 211 and gear can be provided on the guide module 120, and a rack 213 can be provided on the base 110 to achieve drive. Of course, the above example is only one example of the drive module 210 and not a limitation on the drive module 210. Those skilled in the art can select other drive structures for the drive module 210 according to the prior art, such as a sprocket and chain drive structure or a screw thread drive structure. Figure 5 An exemplary example of a lead screw drive structure is shown, comprising a linear motor 214 and a lead screw 215. The linear motor 214 has an internal threaded hole that matches the external thread of the lead screw 215. The lead screw 215 passes through the internal threaded hole of the linear motor 214. The linear motor 214 is fixedly mounted on a movable base 140 or a functional module 130, and the lead screw 215 is correspondingly fixed on a base 110 or a movable base 140. When the linear motor 214 rotates, it can also drive the movable base 140 or the functional module 130 to move along the lead screw 215. Of course, in some other embodiments, the lead screw 215 can be connected to the motor, and a nut matching the lead screw 215 can be fixed on the movable base 140 or the functional module 130. Those skilled in the art can understand and configure this according to the prior art, and this embodiment will not elaborate further. Furthermore, the drive structures installed on the movable base 140 and the functional module 130 can be the same or different, and this embodiment is not limited to this. Preferably, the movable seat 140 can be driven by a lead screw thread transmission structure.

[0078] Optionally, the functional device connected to the functional module 130 on the proximal side can pass over the functional device connected to the functional module 130 on the distal side. For example, from the distal end to the proximal end, each functional module 130 is raised sequentially to facilitate the combination and connection of each functional device.

[0079] For further information, please refer to the following: Figure 3 and Figure 4In interventional procedures, such as vascular interventional procedures, the main instruments used are catheter 500, guidewire 510, and balloon stent 530. Catheter 500 serves as the channel for these functional instruments to enter the body; therefore, the catheter drive unit 121 of the catheter module 120 used to deliver catheter 500 is located distal to all functional modules 130. Catheter 500 has a hollow configuration, with guidewire 510 and balloon stent 530 located within the hollow opening of catheter 500. The distal end of catheter 500 enters the body, while the proximal end is fixed to the catheter drive unit 121 via a Y-valve. The balloon stent 530 enters the catheter 500 through the two inlets of the Y-valve and ultimately enters the body.

[0080] Optionally, at least one of the catheter 500, guidewire 510, and balloon stent 530 can rotate circumferentially (i.e., rotate about its respective axis) to adapt to delivery requirements. Optionally, at least one functional module 130 can drive the circumferential rotation of its connected functional device, and / or, the catheter module 120 can drive the circumferential rotation of its connected catheter 500. Thus, one or more of the catheter 500, guidewire 510, and balloon stent 530 can achieve linear movement, circumferential rotation, and combined linear and circumferential movement along the axial direction of the base 110 as needed. Optionally, the catheter module 120 itself can drive the circumferential rotation of the catheter 500 through its catheter drive unit 121, and the functional module 130 itself can drive the circumferential rotation of its connected functional device. Further structural details are not provided here; those skilled in the art can understand them based on existing technology.

[0081] and Figure 4 The different application scenarios shown correspond to the following: Figure 6 Another application scenario illustrated involves the three functional modules 130 selecting the following functions from distal to proximal: microcatheter delivery, guidewire delivery, and balloon delivery. Correspondingly, the three functional modules 130 are connected to the microcatheter 520, guidewire 510, and balloon stent 530, respectively. Thus, the three functional modules 130 can independently drive the microcatheter 520, guidewire 510, and balloon stent 530 to move axially forward and backward along the base 110.

[0082] Furthermore, such as Figure 6As shown, guidewire 510 and balloon stent 530 are inserted into microcatheter 520, which in turn is inserted into catheter 500. Catheter 500 is inserted into the patient through an incision on the body surface. Optionally, at least one of catheter 500, guidewire 510, microcatheter 520, and balloon stent 530 can rotate circumferentially (i.e., rotate around its respective axis) to adapt to delivery requirements. Please refer to the description above for the specific structure; it will not be repeated here. Understandably, since the three functional modules 130 need to drive their respective corresponding functional instruments, the nearest functional module 130 can also be equipped with a motor 211 and gears. Further explanation is not provided here.

[0083] It needs to be explained that, Figure 4 and Figure 6 Only two application scenarios are shown as examples. In practice, the application scenarios are not limited to these. Those skilled in the art can configure the number of functional modules 130 and configure the functions of each functional module 130 differently according to the actual application scenarios. This invention is not limited in this respect.

[0084] Please continue to refer to this. Figure 1 In one example, the interventional robot system further includes an input module 220, which has, for example, several handles or buttons, to receive operator input. The input input is used to drive the movement of each functional module 130 via a drive module 210. In some embodiments, the input input to the input module 220 can also be used to control the robotic arm 300 to adjust the position of the actuator 100, or to drive the catheter module 120 and the corresponding catheters 500 or functional instruments of each functional module 130 to rotate.

[0085] In one example, the instrument layout information includes at least one of the following:

[0086] 1. Information on the arrangement order of the conduit module 120 and each functional module 130 along the base 110;

[0087] II. Axial (referring to the axial direction along the base 110) spacing information between the conduit module 120 and the adjacent functional module 130, and axial spacing information between two adjacent functional modules 130.

[0088] III. Recommended specifications for catheter 500 corresponding to catheter module 120 (including type, model and size information);

[0089] IV. Suggested specifications for the functional instruments corresponding to each functional module 130 (including type, model, and size information).

[0090] Understandably, different application scenarios may require different functional instruments, and the specifications of the catheter 500 may also vary. Therefore, by using prompts through the prompt module, the surgeon can be effectively guided to select the appropriate functional instruments and catheter 500 to perform the surgery.

[0091] Please refer to Figure 7 Besides necessary disinfection and anesthesia, the first step in interventional surgery is to make an incision of 600 mm to insert catheters and functional instruments into the body. The choice of incision 600 mm is generally based on the location of the lesion and the patient's physical condition, such as the femoral artery in the left or right leg and the radial artery in the left or right wrist. Therefore, the location of the lesion and the puncture site can be used as characteristic points of the application scenario to collect and identify patient information.

[0092] Once a specific application scenario is determined, the functions of the instruments used in this type of surgery are generally similar, and the models of the instruments and catheters 500 are relatively fixed. Therefore, patient information can be obtained by collecting and identifying feature points to deduce the subsequent use of functional instruments and the input sequence of the instruments. Confirmation of these parameters allows for preliminary planning of the positions of each functional module 130, thus obtaining instrument layout information. This preliminary instrument layout information can then be displayed through a prompting module.

[0093] Optionally, the interventional robot system includes a data collection module and a training module. The data collection module collects patient information. The training module is configured to train the recognition of the application scenario based on the patient information collected by the data collection module and update the training database. The control device 200 is configured to identify and obtain the current application scenario information based on the training database and the current patient information collected by the data collection module. Optionally, the patient information includes, but is not limited to, the location of the patient's lesion, clinical manifestations, and treatment methods. This patient information can be image information or data information. Image information includes, for example, medical images such as CT images or ultrasound images. Data information includes, for example, puncture location information and treatment information, which reflects the treatment method and means.

[0094] One function of the training module is to learn and train on application scenario information based on collected patient information. It's understandable that the patient information used by the training module refers to patient information from historical surgical procedures. The training module learns based on the application scenario actually selected by the surgeon for a specific patient or type of patient information from those historical procedures. In an example, the training module can, for instance, identify features from images in the patient information using feature recognition to obtain information such as the patient's lesion location, causative factors, and clinical manifestations. Further, based on the obtained information on the patient's lesion location, causative factors, and clinical manifestations, the module is trained to recognize surgical scenarios. For example, if the lesion is located below the left coronary artery and presents as an embolism, then the module determines that interventional vascular intervention is the appropriate treatment method; that is, the application scenario information in this case is an interventional vascular intervention scenario.

[0095] Optionally, the data collection module is used to collect patient information and / or device placement information; the training module is configured to train the catheter module 120 and each functional module 130 to select and arrange functions based on the information collected by the data collection module (including patient information and / or device placement information) according to the application scenario information. Optionally, the device placement information may also include image information and / or data information, such as images and specifications of functional devices.

[0096] Another function of the training module is to learn and train the function selection and arrangement of the catheter module 120 and each functional module 130 based on the collected patient information and / or instrument placement information. It is understood that the patient information and / or instrument placement information used by the training module here refers to patient information and / or instrument placement information from historical surgical procedures. The training module learns the function selection and arrangement of the catheter module 120 and each functional module 130 actually selected by the surgeon based on information from historical surgical procedures corresponding to a specific application scenario or type of application.

[0097] Optionally, the training module is configured to train the function selection and arrangement of the catheter module 120 and each functional module 130 according to the application scenario information, and update the training database; the prompting module is configured to prompt the device arrangement information based on the training database and the current application scenario information.

[0098] The training module can learn and train based on the functional selection and arrangement of catheter module 120 and various functional modules 130 corresponding to a specific application scenario during historical surgical procedures. It also expands and updates the training database. In other words, the training module can learn the functions and arrangements of catheter module 120 and various functional modules 130 selected and configured by the surgeon during historical surgical procedures for a specific application scenario. The prompting module then searches the training database for suitable or similar instrument arrangement information based on the current application scenario and provides prompts. This reduces the learning burden and time for inexperienced surgeons.

[0099] Optionally, after obtaining the information collected by the data collection module, the training module can use a simulation environment to obtain the equipment layout information corresponding to the current application scenario. Optionally, the simulation environment can be divided into two steps.

[0100] The first step is the algorithm's virtual environment, which is the same as the actual surgical requirements. In this virtual environment, the training module is input with the required patient information, such as the location of the lesion and clinical manifestations. After determining the application scenario information, it continues to determine the specifications of the functional instruments and catheter 500 required for the surgery, and arranges the catheter module 120 and each functional module 130 in a layout order to facilitate the execution of the second step described below.

[0101] The second step involves the interventional surgery simulator environment. The simulator simulates the human body structure and recreates the human environment. This process is operated by the surgeon, who first defines the application scenario. The training module records, stores, and learns the instrument placement information used during the surgery. This process reinforces the use of functional instruments and the layout of the catheter module 120 and various functional modules 130.

[0102] Please refer to Figure 8a and Figure 8b This demonstrates the process of identifying and obtaining current application scenario information based on current patient information collected by the training database and data collection module, and further obtaining instrument deployment information corresponding to the current application scenario information. For the current patient information, the application scenario information identified by the control device 200 is Scenario I, Scenario II, Scenario III, etc. These scenarios can be simply described as disease characteristics, and are essentially treatment methods. For different scenarios (diseases), the treatment methods require the use of corresponding functional instruments. The output of the prompting module is the suggested specifications of the catheter 500 and functional instruments required for the surgery in a specific surgical scenario.

[0103] Please refer to Figure 9 This illustrates the principles by which the training module learns and trains. For the training module, inputting the patient's lesion location and clinical manifestations allows it to represent a set (ABC) of lesion locations, and clinical manifestations as follows: Perform matrix calculations on both. Each scenario corresponds to a specific lesion location and clinical manifestation. For example, if the scenario is Aa, the output application scenario information is vascular intervention. The determination of scenario Aa is defined in the program from the very beginning of the algorithm.

[0104] When the training module concludes that the lesion location is A, the clinical manifestation is a, and the application scenario information is vascular intervention, the training module will receive a positive reward, or positive incentive. Conversely, it will receive a negative reward. Only when the reward obtained by the training module is greater than the expected reward level S can it be considered that the interventional robot system can diagnose and treat the patient's disease.

[0105] Similarly, during the learning process of selecting and arranging the functions of the catheter module 120 and each functional module 130, when the training module draws the conclusion that the function selection and arrangement of each functional module 130 are correct, and the specifications of the catheter 500 and each functional instrument are correct, a positive benefit is assigned to it; otherwise, a negative benefit is assigned. Only when the benefit obtained by the training module is greater than the expected benefit level M can it be considered that the function selection and arrangement of the interventional robot system in this application scenario are correct and can be used as a reference in surgery.

[0106] Optionally, the data collection module is used to collect the drive information of the drive module 210; the training module is configured to train the drive signal of the functional module 130 according to the drive information collected by the data collection module and update the training database; the drive module 210 is configured to drive the functional module 130 to move along the axial direction of the base 110 according to the input operation information and the training database under the control of the control device 200.

[0107] Another function of the training module is to learn and train the drive of the drive module 210 based on the collected drive information. Optionally, the drive information of the drive module 210 may include current data and / or voltage data of the motor 211.

[0108] Please refer to Figure 10a and Figure 10bThis demonstrates the process of obtaining the voltage and / or current range of the motor 211 corresponding to the current application scenario information based on the training database and the specification information of each functional instrument corresponding to each functional module 130. The drive module 210 drives and controls each functional module 130 based on the operation information input by the input module 220, achieving the delivery of each functional instrument through a series of transmissions. The different delivery speeds, torques, and delivery forces of each functional instrument ultimately manifest as different currents or voltages in each motor 211. Therefore, the data collection module can collect current and / or voltage data of the drive module 210 during historical surgical procedures, and after learning and training, obtain the voltage and / or current range of the motor 211 adapted to a specific functional instrument. Thus, corresponding to the specification information of each functional instrument corresponding to each functional module 130, a suitable voltage and / or current range can be selected, thereby effectively optimizing the control of the driving force value by the actuator 100 and achieving stable driving force values.

[0109] Optionally, the control device 200 is configured to acquire current application scenario information based on input. Please refer to [reference needed]. Figure 11 This illustrates the actual surgical procedure of the interventional robotic system provided in this embodiment. An example of a surgical procedure includes the following steps:

[0110] Step S1: The surgeon directly inputs the current application scenario information through input module 220. Based on the input application scenario information and data from the training database, control device 200 calculates the instrument arrangement information required for the surgery and displays it on the display device. The instrument arrangement information includes the arrangement order of each functional module 130, the recommended spacing between the catheter module 120 and each functional module 130, the suggested specifications of the catheter 500, and the suggested specifications of the functional instruments to be delivered by each module.

[0111] Step 2 S2: The operator confirms the instrument arrangement information displayed on the display device and adjusts the arrangement of the catheter module 120 and each functional module 130, the function of each functional module 130, and the specifications of the catheter 500 and each functional instrument according to actual needs.

[0112] Please refer to Figure 12 In the upper part, after the surgeon selects the current application scenario information, the display device will show the instrument layout information for this surgery. If the layout is correct, the surgeon can continue the surgery. If the surgeon feels that the layout needs to be adjusted or optimized, they can adjust it themselves by touching the screen. For example... Figure 12As shown in the lower half, the functions of the recommended functional modules 130 suggested by the prompting module are guidewire delivery, balloon delivery, and idle. The distance between the catheter module 120 and the adjacent functional module 130 is L1. The suggested specifications for the catheter 500 are model E, the guidewire 510 are model A, and the balloon stent 530 are model B. The surgeon ultimately determines the functions of the functional modules 130 to be balloon delivery, guidewire delivery, and idle. The distance between the catheter module 120 and the adjacent functional module 130 is L2. The specifications for the catheter 500 are model F, the guidewire 510 are model A, and the balloon stent 530 are model B.

[0113] Step S3: The surgeon installs the catheter module 120 and each functional module 130. Optionally, the interventional robot system can also detect whether the modules installed by the surgeon are the required modules for this surgery.

[0114] Step S4: The surgeon controls the robotic arm 300 to reach the surgical position and manually or automatically adjusts the distance between the catheter module 120 and each functional module 130 to the appropriate position, either by manually adjusting or by the interventional robot system.

[0115] Step 5 (S5): Perform the surgery.

[0116] This invention also provides a readable storage medium storing a program, characterized in that it is applied to the above-described interventional robot system; when the program is executed, it performs the following steps:

[0117] Obtain application scenario information, and based on the application scenario information, prompt optional instrument arrangement information associated with the actuator 100. The instrument arrangement information includes at least one of the following:

[0118] 1. Information on the arrangement order of the conduit module 120 and each functional module 130 along the base 110;

[0119] II. Axial spacing information between the conduit module 120 and the adjacent functional module 130, and axial spacing information between two adjacent functional modules 130;

[0120] III. Recommended specifications for catheter 500 corresponding to catheter module 120;

[0121] IV. Suggested specifications for the functional instruments corresponding to each functional module 130.

[0122] Optionally, the step of obtaining application scenario information and, based on the application scenario information, prompting the instrument arrangement information associated with the execution device 100 includes:

[0123] The function selection and arrangement of the conduit module 120 and each functional module 130 are trained based on the application scenario information, and the training database is updated.

[0124] Based on the training database and current application scenario information, the system provides prompts for equipment deployment.

[0125] Optionally, the steps for training the selection and arrangement of functions of the conduit module 120 and each functional module 130 based on application scenario information include:

[0126] Collect patient information and / or device placement information, and train the function selection and placement of catheter module 120 and each functional module 130 based on the collected patient information and / or device placement information according to the application scenario information.

[0127] Optionally, the program may also perform the following steps when executed:

[0128] Collect the driving information of the driving module 210; train the driving signals of the functional module 130 based on the collected driving information, and update the training database.

[0129] Based on the input operation information and training database, the drive function module 130 moves along the axial direction of the base 110.

[0130] Optionally, the program may also perform the following steps when executed:

[0131] Collect patient information;

[0132] The system is trained to identify application scenarios based on the collected patient information, and the training database is updated accordingly.

[0133] Based on the current patient information collected by the training database and data collection module, the current application scenario information is identified.

[0134] When the program on the aforementioned readable storage medium is executed, the specific principles of the steps performed can be found in the description of the interventional robot system above, and will not be repeated here. Optionally, the readable storage medium can be set independently or integrated into the control device 200; the present invention is not limited to this.

[0135] In summary, in the interventional robot system and readable storage medium provided by this invention, the interventional robot system includes an execution device, a control device, and a prompting module. The control device is used to acquire application scenario information and issue control commands based on the application scenario information. The execution device is used to receive and execute the control commands. The prompting module is configured to prompt instrument placement information associated with the execution device based on the application scenario information. With this configuration, based on the setting of the prompting module, the control device can prompt appropriate instrument placement information according to the application scenario information to guide and prompt the instrument placement process, reducing the learning burden and learning time for inexperienced doctors, reducing the time consumed in intraoperative instrument placement, and optimizing the surgical procedure.

[0136] It should be noted that the above embodiments can be combined with each other. The above description is only a description of preferred embodiments of the present invention and is not intended to limit the scope of the present invention in any way. Any changes or modifications made by those skilled in the art based on the above disclosure shall fall within the protection scope of the claims.

Claims

1. An interventional robot system, characterized in that, It includes an execution device, a control device, a prompting module, a data collection module, and a training module; the control device is used to acquire application scenario information and issue control commands based on the application scenario information; the execution device is used to receive and execute the control commands; the prompting module is configured to prompt the instrument layout information associated with the execution device based on the application scenario information. The actuator includes a base, a catheter module, and functional modules; the instrument arrangement information includes the arrangement order information of the catheter module and each of the functional modules along the base; and / or the axial spacing information between the catheter module and the adjacent functional module, and the axial spacing information between two adjacent functional modules; The data collection module is used to obtain patient information by collecting and identifying feature points; the training module is configured to train the recognition of application scenarios based on the patient information collected by the data collection module and update the training database; the control device is configured to identify and obtain the current application scenario information based on the training database and the current patient information collected by the data collection module.

2. The interventional robot system according to claim 1, characterized in that, It also includes a drive module, the conduit module is disposed on the base; the functional module is movably disposed on the base along the axial direction of the base; The catheter module is used to connect to a catheter; the functional module is used to select one of a plurality of alternative functions as the current function, and is used to connect to the functional device corresponding to the selected function. The control device is used to control the drive module to drive the functional module to move along the axial direction of the base.

3. The interventional robot system according to claim 2, characterized in that, The training module is configured to train the selection and arrangement of functions of the conduit module and the functional modules according to the application scenario information, and update the training database. The prompting module is configured to prompt the equipment deployment information based on the training database and the current application scenario information.

4. The interventional robot system according to claim 3, characterized in that, The data collection module is used for the instrument layout information; The training module is configured to train the duct module and the functional selection and arrangement of each of the functional modules based on the application scenario information and the information collected by the data collection module.

5. The interventional robot system according to claim 2, characterized in that, The data collection module is used to collect the driving information of the driving module; The training module is configured to train the driving signals of the functional module based on the driving information collected by the data collection module, and update the training database. The drive module is configured to drive the functional module to move along the axial direction of the base under the control of the control device, based on the input operation information and the training database.

6. A readable storage medium having a program stored thereon, characterized in that, Applied to the interventional robot system according to any one of claims 1 to 5; when the program is executed, it performs the following steps: Obtain application scenario information, and based on the application scenario information, prompt the instrument arrangement information associated with the execution device; wherein the execution device includes a base, a catheter module, and a functional module; the instrument arrangement information includes the arrangement order information of the catheter module and each of the functional modules along the base; and / or the axial spacing information between the catheter module and the adjacent functional module, and the axial spacing information between two adjacent functional modules; Patient information is obtained by collecting and identifying feature points; The system is trained to identify application scenarios based on the collected patient information, and the training database is updated accordingly. Based on the training database and the current patient information collected by the data collection module, the current application scenario information is identified and obtained.

7. The readable storage medium according to claim 6, characterized in that, The step of obtaining application scenario information and, based on the application scenario information, prompting instrument layout information associated with the execution device includes: The function selection and arrangement of the conduit module and each functional module are trained based on the application scenario information, and the training database is updated. Based on the training database and the current application scenario information, the device deployment information is displayed.

8. The readable storage medium according to claim 7, characterized in that, The step of training the selection and arrangement of functions of the conduit module and each functional module based on the application scenario information includes: Collect patient information and / or device placement information, and based on the application scenario information, train the function selection and placement of the catheter module and each of the functional modules according to the collected patient information and / or device placement information.

9. The readable storage medium according to claim 6, characterized in that, When the program is executed, it also performs the following steps: Collect driving information from the driving module; train the driving signals of the functional module based on the collected driving information, and update the training database; Based on the input operation information and the training database, the functional module is driven to move along the axial direction of the base.

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