Force detection method, force feedback method, force detection system and surgical system

Abstract

The present invention provides a force detection method, a force feedback method, a force detection system, a surgical system, and a storage medium. The force detection method includes: obtaining the system noise of the interventional surgical system; obtaining the extravascular noise when a delivery catheter carrying a slender instrument enters the target object's blood vessel and the slender instrument is located in the delivery catheter; obtaining the intravascular blood flow noise when the delivery catheter is located in the blood vessel and the distal end of the slender instrument is located outside the delivery catheter; real-time acquisition of the total resistance encountered by the slender instrument in the blood vessel; and calculating the touch resistance between the slender instrument and the blood vessel wall or lesion based on the total resistance, system noise, extravascular noise, and intravascular blood flow noise. Moreover, the force feedback method can visually feedback the touch resistance detected by the force detection method. The present invention can provide more accurate force feedback for operators (such as doctors) when operating surgical robots, and can improve the safety and reliability of surgery.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and in particular to a force detection method, a force feedback method, a force detection system, a surgical system and a storage medium for a slender instrument for interventional surgery. Background Art

[0002] Interventional surgery requires an operator (such as a doctor) to operate slender instruments (such as guide wires and catheters) and insert them into the human body. Since the operator is manually operated, he will be exposed to radiation during the operation. In the existing technology, the operator often operates by controlling a surgical robot. Interventional surgery has the advantages of small incisions, less bleeding, and fast recovery. It can not only significantly reduce the patient's discomfort during the operation, but also greatly shorten the patient's postoperative hospitalization time. The survival rate and recovery rate of postoperative patients can also be significantly improved. Therefore, interventional surgery performed with the help of surgical robots is becoming more and more popular among doctors and patients, and has been widely used in various clinical operations.

[0003] However, when controlling a robot to deliver a slender instrument using buttons or rocker switches, the operator cannot sense the instrument's delivery speed or the resistance it encounters during delivery, compromising surgical safety. For example, if the contact force between the slender instrument and the patient's internal tissue is too great, it can easily cause tissue damage and secondary injury to the patient. Therefore, understanding the changes in resistance and torque experienced by slender instruments to ensure surgical safety is a critical technology.

[0004] Some surgical robots or interventional surgical devices in the prior art do not have a force feedback function; some have a force feedback function, but have defects such as a single force feedback function and low force feedback accuracy.

[0005] It should be noted that the information disclosed in the background technology section of the invention is only intended to deepen the understanding of the general background technology of the invention, and should not be regarded as an admission or any form of implication that the information constitutes prior art already known to those skilled in the art. Summary of the Invention

[0006] The purpose of the present invention is to address the technical problems in the prior art that surgical robots and / or interventional surgical devices have no force feedback function or a single force feedback function, and to provide a force detection method, a force feedback method, a force detection system, a surgical system and a storage medium. The present invention can provide operators (such as doctors) with more accurate force feedback when operating surgical robots, thereby improving the safety and reliability of surgery.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions: a force detection method for an elongated instrument, wherein the elongated instrument is used in an interventional surgical system, the interventional surgical system including a delivery channel assembly for delivering the elongated instrument, the delivery channel assembly including a delivery catheter; the force detection method comprising:

[0008] obtaining system noise of the interventional surgery system;

[0009] acquiring extravascular noise when the delivery catheter carrying the elongated device enters a blood vessel of a target subject and the elongated device is located within the delivery catheter;

[0010] acquiring blood flow noise in the blood vessel when the delivery catheter is located in the blood vessel and the distal end of the elongated device is located outside the delivery catheter;

[0011] collecting in real time the total resistance experienced by the elongated instrument in the blood vessel;

[0012] The contact resistance between the slender instrument and the blood vessel wall or lesion is calculated according to the total resistance, the system noise, the extravascular noise and the intravascular blood flow noise.

[0013] Optionally, the force detection method includes:

[0014] When the interventional surgery system is in a non-working state, driving the elongated instrument to move according to a preset acceleration, and collecting a first driving force for driving the elongated instrument;

[0015] calculating a theoretical driving force for driving the elongated instrument according to the mass of the elongated instrument and the preset acceleration;

[0016] The system noise is calculated according to the first driving force and the theoretical driving force.

[0017] Optionally, the force detection method comprises:

[0018] When the delivery catheter is located within the blood vessel and the elongated device is located within the delivery catheter, collecting a second driving force for driving the elongated device;

[0019] The extravascular noise is calculated based on the second driving force and the system noise.

[0020] Optionally, the method comprises calculating the extravascular noise by the following steps:

[0021] When the delivery catheter is located in the blood vessel, the distal end of the elongated device is located outside the delivery catheter, and the elongated device does not touch the blood vessel wall or the lesion, collecting a third driving force for driving the elongated device;

[0022] The intravascular blood flow noise is calculated based on the third driving force, the system noise, and the extravascular noise.

[0023] Optionally, the contact resistance between the elongated device and the blood vessel is calculated by the following formula:

[0024] f=FXY-μ

[0025] Wherein, f is the contact resistance between the slender instrument and the blood vessel, F is the total resistance of the slender instrument in the blood vessel collected in real time, X is the system noise, Y is the extravascular noise, and μ is the blood flow noise in the blood vessel.

[0026] Optionally, the interventional surgery system includes a memory; the memory stores a pre-calibrated reference system noise, a pre-calibrated reference extravascular noise, and / or a reference intravascular blood flow noise; the force detection method includes:

[0027] The reference system noise read from the memory is used as the system noise, the reference extravascular noise read from the memory is used as the extravascular noise, and / or the reference intravascular blood flow noise read from the memory is used as the intravascular blood flow noise.

[0028] Optionally, the force detection method further comprises: calibrating the reference system noise, reference extravascular noise, and / or reference intravascular blood flow noise respectively through the following steps:

[0029] Acquire multiple system noise samples of the interventional surgery system to be calibrated; and calibrate the reference system noise according to the distribution of the system noise samples;

[0030] For the blood vessel to be calibrated, a plurality of extravascular noise samples are acquired according to the current movement direction of the elongated instrument relative to the blood vessel to be calibrated, and the reference extravascular noise corresponding to the blood vessel to be calibrated and the current movement direction is calibrated according to the distribution of the extravascular noise samples;

[0031] and / or

[0032] For the blood vessel to be calibrated, multiple samples of intravascular blood flow noise are obtained based on the current movement direction of the slender instrument relative to the current blood vessel to be calibrated, and based on the distribution of the intravascular blood flow noise samples, the reference intravascular blood flow noise corresponding to the current blood vessel to be calibrated and the current movement direction is calibrated.

[0033] Optionally, the force detection method includes:

[0034] obtaining a movement direction of the elongated instrument relative to a blood vessel of the target object;

[0035] A reference extravascular noise corresponding to the movement direction and the blood vessel is obtained from the memory, and the reference extravascular noise is used as the extravascular noise; and / or a reference intravascular blood flow noise corresponding to the movement direction and the blood vessel is obtained from the memory, and the reference intravascular blood flow noise is used as the intravascular blood flow noise.

[0036] To achieve the above-mentioned object, the present invention further provides a force feedback method for a slender instrument, wherein the slender instrument is used in an interventional surgery system, and the force feedback method comprises:

[0037] Acquire an image of the region of interest;

[0038] Segmenting the region of interest image to obtain a target blood vessel image and a slender instrument image respectively;

[0039] fusing the target blood vessel image and the slender instrument image to obtain an intraoperative target image;

[0040] Using any of the force detection methods described above, the contact resistance between the elongated instrument and the blood vessel wall or lesion is obtained in real time;

[0041] The intraoperative target image is displayed in real time on a display device, and the touch resistance is visually superimposed on the intraoperative target image.

[0042] Optionally, the force feedback method further includes:

[0043] displaying a target blood vessel in the intraoperative target image using a first color;

[0044] displaying the elongated instrument in the intraoperative target image using a second color;

[0045] Obtaining, according to the touch resistance and force level classification rule, a current force level corresponding to the touch resistance; obtaining, according to the current force level and a correspondence between the force level and the display color and / or display flashing frequency, a third color and / or flashing frequency for displaying the touch resistance;

[0046] The touched blood vessel region is displayed using a third color and / or according to the flashing frequency.

[0047] Optionally, the force feedback method further comprises: displaying the target blood vessel image and the intraoperative target image superimposed with touch resistance on a display device in split-screen mode.

[0048] To achieve the above-mentioned object, the present invention further provides a force detection system for an elongated instrument, wherein the elongated instrument is used in an interventional surgery system, wherein the interventional surgery system includes a delivery channel assembly for delivering the elongated instrument, wherein the delivery channel assembly includes a delivery catheter; wherein the force detection system includes a noise acquisition unit and a logic processing unit;

[0049] The noise acquisition unit is configured to perform the following operations:

[0050] obtaining system noise of the interventional surgery system;

[0051] acquiring extravascular noise when the delivery catheter carrying the elongated device enters a blood vessel of a target subject and the elongated device is located within the delivery catheter;

[0052] acquiring blood flow noise in the blood vessel when the delivery catheter is located in the blood vessel and the distal end of the elongated device is located outside the delivery catheter;

[0053] collecting in real time the total resistance experienced by the elongated instrument in the blood vessel;

[0054] The logic processing unit is configured to perform the following operations: calculate the contact resistance between the slender instrument and the blood vessel wall or lesion according to the total resistance, the system noise, the extravascular noise, and the intravascular blood flow noise.

[0055] Optionally, the force detection system further includes an image acquisition unit and a display unit;

[0056] The image acquisition unit is configured to acquire an image of a region of interest;

[0057] The logic processing unit is further configured to perform the following operations:

[0058] acquiring target blood vessel images and slender instrument images respectively;

[0059] fusing the target blood vessel image and the slender instrument image to obtain an intraoperative target image;

[0060] obtaining in real time the contact resistance between the elongated instrument and the blood vessel wall or lesion;

[0061] The display unit is configured to display the intraoperative target image in real time and visually superimpose the touch resistance on the intraoperative target image.

[0062] In order to achieve the above objectives, the present invention further provides a surgical system, which includes a surgical robot and the force detection system for the elongated instrument as described above.

[0063] To achieve the above objectives, the present invention further provides a readable storage medium, wherein the readable storage medium stores a computer program, and when the computer program is executed by a processor, the force detection method and / or force feedback method described above is implemented.

[0064] Compared with the prior art, the force detection method, force feedback method, force detection system, surgical system, and storage medium provided by the present invention have the following advantages:

[0065] The force detection method provided by the present invention first obtains the system noise of the interventional surgery system; then obtains the extravascular noise when the delivery catheter carrying the slender instrument enters the target object's blood vessel and the slender instrument is located in the delivery catheter, and the intravascular blood flow noise when the delivery catheter is located in the blood vessel and the distal end of the slender instrument is located outside the delivery catheter; then, based on the total resistance encountered by the slender instrument in the blood vessel, the system noise, the extravascular noise and the intravascular blood flow noise collected in real time, the contact resistance between the slender instrument and the blood vessel wall or lesion is calculated. It can be seen that the force detection method provided by the present invention fully considers all noise factors encountered by the slender instrument (including system noise, extravascular noise and intravascular noise), and through the extracted system noise, extravascular noise and intravascular noise, as well as the total resistance encountered by the slender instrument in the blood vessel collected in real time, it can effectively eliminate the influence of noise factors and more accurately obtain the contact resistance between the slender instrument and the blood vessel wall or lesion. This lays the foundation for providing operators (such as doctors) with more precise force feedback when operating slender instruments through interventional surgical systems, which can better assist operators in operating slender instruments more smoothly, thereby improving the reliability and safety of the surgery; and reducing the dependence on the operator's clinical experience, thereby improving surgical efficiency.

[0066] The force feedback method provided by the present invention segments the acquired region of interest image to display only the image of the target vessel and the image of the elongated instrument on the intraoperative target image. It also displays the contact resistance between the elongated instrument and the vessel wall or lesion in real time on the intraoperative image. This not only makes it easier for the surgeon to perceive the contact resistance between the elongated instrument and the vessel wall or lesion in real time, but also, because the contact resistance is acquired using the force detection method provided by the present invention, the visual presentation of the contact resistance by the force feedback method provided by the present invention is more accurate, thereby ensuring the smooth delivery of the elongated instrument and improving the safety and reliability of the surgery.

[0067] The force detection system, surgical system and storage medium provided by the present invention belong to the same inventive concept as the force detection method and / or force feedback method provided by the present invention. Therefore, the force detection system, surgical system and storage medium provided by the present invention have at least all the advantages of the force detection method and / or force feedback method provided by the present invention. In order to avoid redundancy, they will not be described in detail one by one here. For more details, please refer to the relevant description of the beneficial effects of the force detection method and / or force feedback method provided by the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] Figure 1 Schematic diagram of application scenarios of the force detection method, force feedback method, and force detection system provided by the present invention;

[0069] Figure 2 A schematic diagram of the principle of the force detection method provided in the first embodiment of the present invention;

[0070] Figure 3 A flow chart of a force detection method provided in Embodiment 1 of the present invention;

[0071] Figure 4 A diagram showing a specific example of the force detection method provided in the first embodiment of the present invention;

[0072] Figure 5a A schematic diagram of noise sources of the force detection method provided in Example 1 of the present invention;

[0073] Figure 5b A specific example diagram of the source of system noise in the force detection method provided in the first embodiment of the present invention;

[0074] Figure 5c A diagram showing a specific example of the source of extravascular noise in the force detection method provided in the first embodiment of the present invention;

[0075] Figure 5d for Figure 5c An enlarged schematic diagram of the dotted box portion;

[0076] Figure 5e A diagram showing a specific example of the source of blood flow noise in a blood vessel in the force detection method provided in the first embodiment of the present invention;

[0077] Figure 5f for Figure 5e Schematic diagram of the contact resistance generated by the slender instrument contacting the blood vessel wall;

[0078] Figure 6 A flow chart of a force feedback method provided in the second embodiment of the present invention;

[0079] Figure 7 A schematic diagram of the principle of the force feedback method provided in the second embodiment of the present invention;

[0080] Figure 8 A diagram showing a specific example of the force feedback method provided in the second embodiment of the present invention;

[0081] Figure 9a This is an example diagram of one state of touch resistance displayed by a display screen for force feedback using a force detection system provided in the third embodiment of the present invention;

[0082] Figure 9b This is another example diagram of the touch resistance state of the force detection system provided in the third embodiment of the present invention using a display screen for force feedback display;

[0083] Figure 10 This is a structural block diagram of the force detection system provided in Example 3 of the present invention. DETAILED DESCRIPTION

[0084] The force detection method, force feedback method, force detection system, surgical system, and storage medium provided by the present invention are further described in detail below in conjunction with the accompanying drawings and specific embodiments. The advantages and features of the present invention will become more apparent from the following description. It should be noted that the accompanying drawings are highly simplified and not to exact scale, and are intended solely to facilitate and clearly illustrate the embodiments of the present invention.

[0085] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0086] In the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connected," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific circumstances.

[0087] The core idea of ​​the present invention is to provide a force detection method, a force feedback method, a force detection system, a surgical system and a storage medium, which can provide the operator with more accurate feedback force when operating a slender instrument through an interventional surgical system, thereby improving the safety and reliability of the surgical process.

[0088] It should be noted that the force detection method and force feedback method of the embodiments of the present invention can be applied to the force detection system and / or surgical system provided by the present invention. In this document, unless otherwise specified, the "distal end" refers to the end closest to the patient / lesion, i.e., the end away from the operator / interventional surgical system; the "proximal end" refers to the end closest to the operator / interventional surgical system, i.e., the end away from the blood vessel / lesion.

[0089] Example 1

[0090] This embodiment provides a force detection method for an elongated instrument used in an interventional surgical system, wherein the interventional surgical system includes a delivery channel assembly for delivering the elongated instrument, wherein the delivery channel assembly includes a delivery catheter. To facilitate understanding and explanation of the present invention, the following briefly describes the application scenarios of the force detection method, force feedback method, and force detection system provided by the present invention, then explains the basic principles of the force detection method provided by this embodiment, and finally, provides a detailed description of the force detection method provided by this embodiment.

[0091] First, taking the interventional surgery system as a surgical robot as an example, the application scenario of the force detection method provided in this embodiment is explained. Figure 1The interventional surgery system includes an imaging system 100, an operating table 200, and a control console 300. More specifically, the imaging system 100 includes a DSA imaging device 110 and a first display device 120. The DSA imaging device 110 is capable of generating imaging radiation and capturing images of a region of interest of a patient 400 using contrast imaging technology. The images of the region of interest may specifically include surgical scene image information such as tissues, organs, surgical instruments, blood vessels, and body fluids of the patient 400. This scene image information can be transmitted to the first display device 120 and the second display device 310 for display. The operating table 200 includes a base 210, a bed 220 disposed on the base 210, a multi-degree-of-freedom robotic arm 230 (at least one, or multiple, without limitation) connected to the base 210, and a drive device 240 and other medical auxiliary devices (not shown in the figure, including but not limited to endoscopes, etc.) mounted at the end of the multi-degree-of-freedom robotic arm 230. The drive device 240 is used to drive an elongated instrument 250 through a delivery channel assembly 260 into a blood vessel of a patient 400. The elongated instrument 250 includes, but is not limited to, a guidewire, a catheter, a balloon stent, and the like. The console 300 includes a second display device 310, an operation control device 320, and a data processing device 330. The second display device 310 is used to display the current surgical status, including, but not limited to, angiographic images and the position of the elongated instrument 250. Based on the current surgical status displayed on the second display device 310, the operator can control the multi-imaging system 100, the multi-degree-of-freedom robotic arm 230, and / or the drive device 240 by controlling the operation control device 320 and processing control information by the data processing device 330, thereby controlling the elongated instrument 250 and achieving the goal of the surgical robot completing the surgery.

[0092] The basic principles of the force detection method provided by the present invention are explained below: As those skilled in the art will appreciate, for safe interventional procedures, knowing the contact resistance between the elongated instrument 250 and the vessel wall 410 is crucial. After in-depth research and extensive practical verification, the inventors discovered that accurately acquiring this contact resistance is affected by numerous factors, such as efficiency losses caused by mechanical transport of the device, errors in the control circuit, algorithm incompleteness, resistance between the elongated instrument 250 and the delivery channel assembly 260, and the effects of blood flow. These factors, which adversely affect the accurate acquisition of the contact resistance between the elongated instrument 250 and the vessel wall, are all considered noise. After further research, the inventors of the present invention discovered that the reason why related technologies for interventional surgical systems with force feedback have limited force feedback functionality and low force feedback accuracy is that, when detecting the force applied to the elongated instrument 250 during an interventional procedure, the elongated instrument 250 itself is relatively small, and the force it can sense is relatively small, easily drowning out by system noise. Therefore, these related technologies only consider the system noise of the interventional surgical system, and fail to account for the resistance of the elongated instrument 250 as it passes through the vascular sheath 262 or the resistance encountered by the elongated instrument 250 within the delivery catheter 261. Although these related technologies can detect the force applied to the elongated instrument 250, they do not fundamentally eliminate the associated noise. Consequently, the resulting contact resistance has significant errors and is not a completely accurate representation of the contact resistance between the elongated instrument 250 and the vessel wall.

[0093] Based on the above research, in order to more accurately determine the contact resistance between the elongated instrument 250 and the vessel wall 410 or lesion, it is necessary to eliminate the influence of correlated noise. Based on this principle, the present invention proposes a force detection method. To facilitate understanding and explanation of the present invention, the force detection method provided by the present invention is used as an example for a surgical robot.

[0094] Specifically, see Figure 2The force detection method proposed in the present invention uses different methods to eliminate noise at different stages of the surgical robot's operation when performing force detection on a slender instrument 250. First, system noise extraction is performed. The surgical robot is powered on. During the robot's self-test and non-operating state (idle operation, no operation), the current method is used for sampling and filtering to collect force value information for noise spectrum generation, resulting in a standby spectrum and an idle spectrum. Based on the standby spectrum and the idle spectrum, the surgical robot's system spectrum (including detection loop noise and system noise) is obtained. The detection loop noise can be calibrated and stored in the internal memory of the surgical robot before leaving the factory). Next, during the initial stage of the operation (when the elongated instrument 250 is within the delivery catheter 261), i.e., when the surgical robot delivers the elongated instrument 250 and the elongated instrument 250 (e.g., a guidewire) has not yet entered the blood vessel, the current method is used to collect force information and generate a resistance map for the initial stage of the operation. The resistance map for the initial stage of the operation includes both system noise and extravascular noise. The system noise is separated to obtain the extravascular resistance map (i.e., the extravascular noise, including but not limited to blood flow noise, vascular sheath 262 noise, and Y-valve 263 noise). Similarly, during the mid-to-late stage of the operation (when the elongated instrument 250 extends beyond the delivery catheter 261, such as when the guidewire extends beyond the delivery catheter 261), the elongated instrument 250 (guidewire) is within the blood vessel. The current method is used to collect force information and generate a resistance map for the mid-to-late stage of the operation. The resistance map for the mid-to-late stage of the operation includes system noise, extravascular noise, and intravascular noise. The system noise and extravascular noise are separated to obtain the intravascular resistance map (intravascular noise). At this stage, if the slender instrument 250 hits the blood vessel wall or lesion (lesion plaque, such as a hemangioma), a corresponding contact resistance will be generated. This contact resistance can be obtained based on the force information collected at this time, system noise, extravascular noise, and intravascular noise. Therefore, the contact resistance obtained based on this principle not only takes into account the influence of system noise on the obtained contact resistance, but also fully considers the influence of extravascular noise and intravascular noise. Therefore, the contact resistance between the slender instrument 250 and the blood vessel wall or lesion can be more accurately obtained.

[0095] It should be noted that those skilled in the art should be able to understand that although the above description uses the current method to obtain force values ​​as an example, this is not a limitation of the present invention. The present invention does not limit the specific method of obtaining the resistance values ​​at each stage. In other embodiments, other methods besides the current method can also be used to obtain the resistance values ​​at each stage, including but not limited to force sensors.

[0096] Based on the above principles, the following Figure 3 The force detection method provided by this embodiment is described in detail. The force detection method provided by this embodiment includes the following steps:

[0097] S110: Acquire system noise of the interventional surgery system;

[0098] S120: Acquiring extravascular noise when the delivery catheter carrying the elongated device enters a blood vessel of a target subject and the elongated device is located within the delivery catheter;

[0099] S130: Acquiring blood flow noise in the blood vessel when the delivery catheter is located in the blood vessel and the distal end of the elongated device is located outside the delivery catheter;

[0100] S140: collecting the total resistance experienced by the elongated instrument in the blood vessel in real time;

[0101] S150: Calculating the contact resistance between the slender instrument and the blood vessel wall or lesion according to the total resistance, the system noise, the extravascular noise, and the intravascular blood flow noise.

[0102] The force detection method provided in this embodiment fully considers all noise factors (including system noise, extravascular noise, and intravascular noise) to which the slender instrument 250 is subjected. By extracting the system noise, extravascular noise, and intravascular noise, as well as the total resistance experienced by the slender instrument 250 in the blood vessel acquired in real time, the influence of noise factors can be effectively eliminated, and the contact resistance between the slender instrument 250 and the blood vessel wall or lesion can be more accurately obtained. This lays the foundation for providing more accurate force feedback to operators (such as doctors) when operating the slender instrument 250 in an interventional surgery system, better assisting the operator in operating the slender instrument 250 more smoothly, thereby improving the reliability and safety of the surgery. It also reduces the reliance on the operator's clinical experience, thereby improving surgical efficiency.

[0103] For example, see Figure 4 In this example, a force measurement unit 241 is mounted at the proximal end of the delivery channel assembly 260. Force measurement unit 241 is configured to measure the driving force used to propel the elongated instrument 250 forward, backward, and rotate. In some embodiments, the delivery channel assembly 260 further includes a vascular sheath 262 and a Y-valve 263. The elongated instrument 250 passes through the orifice channel within the Y-valve 263, the vascular sheath 262, and the delivery catheter 261, thereby enabling the delivery channel assembly 260 to carry the elongated instrument 250. More specifically, in some embodiments, the force measurement unit 241 may be a tension sensor; in other embodiments, the force measurement unit 241 may also be a strain gauge. In other embodiments, the force measurement unit 241 may also be other force measurement devices besides tension sensors and strain gauges, and the present invention is not limited thereto.

[0104] Preferably, in one exemplary embodiment, step S110 of obtaining the system noise of the interventional surgery system specifically includes:

[0105] S111: When the interventional surgery system is in a non-operating state, driving the elongated instrument 250 to move according to a preset acceleration, and collecting a first driving force for driving the elongated instrument 250;

[0106] S112: Calculating a theoretical driving force for driving the elongated instrument 250 according to the mass of the elongated instrument 250 and the preset acceleration;

[0107] S113: Calculate the system noise according to the first driving force and the theoretical driving force.

[0108] The force detection method provided in this embodiment, when the interventional surgical system is not in operation, drives an elongated instrument 250 at a preset acceleration and measures the first driving force of the elongated instrument 250. The system noise is then determined based on the first driving force and the theoretical driving force. Thus, this embodiment accurately measures the system noise based on the difference between the actual driving force (the first driving force) and the theoretical driving force, laying the foundation for accurately measuring the contact resistance between the elongated instrument 250 and the vessel wall or lesion.

[0109] Specifically, see Figure 5a and Figure 5b System noise includes both equipment noise and idle noise in interventional surgical systems. As previously mentioned, the drive device 240 is used to deliver the elongated instrument 250 into the patient's vasculature 400 via the delivery channel assembly 260. First, surgical robots are typically composed of a combination of various mechanical components to deliver the elongated instrument 250. The coordination between these components inevitably results in efficiency losses. Signal processing by the control circuit and signal filtering by the algorithm can also lead to inaccurate calculations, resulting in errors in the final control. Therefore, when the drive device 240 drives the elongated instrument 250, its theoretical driving force is typically less than its actual driving force. Therefore, the difference between the theoretical and actual driving forces is considered device noise. Second, the drive device 240 typically relies on gas pressure, hydraulic pressure, or electricity as its driving force. These driving forces require a medium such as gas, liquid, or cable. The transmission of driving force through these media inevitably results in losses. For example, excessively long gas or hydraulic circuits can cause damping between the medium and the pipeline, resulting in reduced output force at the end. For example, if electricity is the driving force, a cable that is too long increases the overall cable resistance, reduces the output current, and thus reduces the output force. This difference between the theoretical driving force and the actual driving force is what the device refers to as idle noise.

[0110] More specifically, first, as mentioned above, in step S111, the first driving force for driving the delivery catheter can be acquired based on the strain gauge provided on the driving device.

[0111] Next, the method for obtaining the theoretical driving force in step S112 is explained as follows: Taking the linear movement of the slender instrument 250 as an example, the driving device 240 generally adopts a method of clamping a certain section of the slender instrument 250 for independent driving. The slender instrument 250 has rigidity, and the movement of the clamped section causes the preceding section and the following section of the slender instrument 250 to move accordingly.

[0112] If the mass of the clamped segment is m and the moving speed of the clamped segment is V, then the kinetic energy of the clamped segment is Correspondingly, the kinetic energy of all segments of the elongated instrument 250 is n is the equivalent number of segments of the elongated instrument 250 (n is the same below and will not be described again).

[0113] Similarly, if the equivalent mass of the slender device 250 is M, then the kinetic energy of the slender device 250 is

[0114] It can be seen that the kinetic energy of all segments of the elongated device 250 With the kinetic energy of the elongated instrument 250 Therefore, the mass of the elongated device 250 can be obtained Then the theoretical driving force F can be calculated by the following formula (1):

[0115] F=M×a (1)

[0116] In formula (1), F is the theoretical driving force, M is the mass of the elongated device 250, and a is the preset acceleration of the elongated device 250. As will be appreciated by those skilled in the art, the present invention does not limit the specific value of the preset acceleration a, and in specific implementations, it can be reasonably set according to actual needs.

[0117] Finally, based on the first driving force obtained in step S111 and the theoretical driving force obtained in step S112, the system noise can be obtained by the following formula (2):

[0118] X=X1-Y2 (2)

[0119] In formula (2), X is the calculated system noise, X1 is the first driving force (ie, the actual driving force) for driving the slender instrument 250 , and Y2 is the theoretical driving force for driving the slender instrument 250 .

[0120] Preferably, in one exemplary embodiment, step S120 of acquiring extravascular noise when the delivery catheter 261 carrying the elongated instrument 250 enters a blood vessel of a target subject and the elongated instrument 250 is located within the delivery catheter 261 specifically includes:

[0121] S121: When the delivery catheter 261 is located in the blood vessel and the elongated device 250 is located in the delivery catheter 261 , collecting a second driving force for driving the elongated device 250 ;

[0122] S122: Calculate the extravascular noise according to the second driving force and the system noise.

[0123] In one exemplary embodiment, step S122 specifically includes calculating the extravascular noise according to the second driving force and the system noise using the following formula (3):

[0124] Y=X2-X (3)

[0125] In formula (3), Y is the extravascular noise, X2 is the second driving force for driving the slender instrument 250 (ie, the actual driving force acquired by the strain gauge), and X is the system noise.

[0126] The force detection method provided in this embodiment detects a second driving force used to drive the elongated instrument 250 while the delivery catheter 261 is located within the blood vessel. The extravascular noise is then calculated based on the second driving force and the system noise. This embodiment not only makes it possible to directly measure extravascular noise, which is difficult to measure, but also enables more accurate measurement of the extravascular noise based on the actual driving force and system noise, thereby laying the foundation for accurately determining the contact resistance between the elongated instrument 250 and the blood vessel wall or lesion.

[0127] More specifically, see Figure 5a 、 Figure 5c and Figure 5dThe extravascular noise includes vascular sheath noise, Y-valve noise, and blood flow noise within the blood vessel. In addition to the surgical robot's delivery device for transporting the elongated instrument 250, the elongated instrument 250 must pass through the vascular sheath 262 and Y-valve 263 of the delivery channel assembly 260 before entering the human body. When passing through the tube (inner hole) of the vascular sheath 262 and the orifice of the Y-valve 263, the tube of the vascular sheath 262 and the orifice of the Y-valve 263 both hinder the elongated instrument 250, causing the delivery process to become sluggish, resulting in vascular sheath noise and Y-valve noise, respectively. Furthermore, because the delivery catheter 261 has already penetrated the patient's 400 blood vessel, and the delivery catheter 261 is a hollow tube, and the front end of the vascular sheath 262 is also in the form of a hollow tube, blood 420 inevitably enters the delivery channel assembly 260, affecting the delivery of the elongated instrument 250 and forming part of the vascular flow noise within the vascular sheath 262 (i.e., blood flow noise within the blood vessel). In addition, in different surgical procedures, the direction of blood flow may be in the same direction or in the opposite direction to the slender instrument 250; and whether the blood 420 in the vascular sheath 262 is in a flowing state or has viscosity, etc., all of which are components of the blood flow noise in the blood vessel that affect the accurate extraction of the contact resistance between the slender instrument 250 and the blood vessel wall or lesion.

[0128] Preferably, in one exemplary embodiment, step S130 of acquiring the intravascular blood flow noise when the delivery catheter is located in the blood vessel and the distal end of the elongated device is located outside the delivery catheter specifically includes the following steps:

[0129] S131: When the delivery catheter 261 is located in the blood vessel, the distal end of the slender instrument 250 is located outside the delivery catheter 261, and the slender instrument 250 does not touch the blood vessel wall 410 or the lesion, collecting a third driving force for driving the slender instrument 250;

[0130] S132: Calculate the intravascular blood flow noise according to the third driving force, the system noise, and the extravascular noise.

[0131] Specifically, in step S132, the intravascular blood flow noise can be obtained according to the third driving force, the system noise, and the extravascular noise using the following formula (4):

[0132] μ=X3-YX (4)

[0133] In formula (4), μ is the blood flow noise in the blood vessel, X3 is the third driving force for driving the slender instrument 250 (i.e., the actual driving force acquired by the strain gauge), Y is the extravascular noise, and X is the system noise.

[0134] The force detection method provided in this embodiment calculates intravascular blood flow noise based on the collected actual driving force, system noise, and extravascular noise. Thus, the force detection method provided in this embodiment not only makes it possible to directly measure intravascular noise, which is difficult to measure, but also obtains more accurate intravascular noise, thereby laying the foundation for accurately obtaining the contact resistance between the slender instrument 250 and the vascular wall 410 or lesion.

[0135] More specifically, see Figure 5a and Figure 5e ,in, Figure 5e The source of the fluid noise in the cavity in the force detection method provided by this embodiment is used. Figure 5a and Figure 5e It is readily apparent that intravascular resistance noise is primarily blood flow noise. Since elongated device 250 extends from delivery catheter 261 into patient 400's blood vessel (i.e., the distance elongated device 250 enters the vessel is greater than the distance delivery catheter 261 enters the vessel), elongated device 250 within the vessel is inevitably affected by blood flow, resulting in the aforementioned intravascular noise.

[0136] Preferably, in one exemplary embodiment, step S150 calculates the contact resistance between the elongated instrument 250 and the blood vessel, specifically including calculating the contact resistance between the elongated instrument 250 and the blood vessel wall 410 or the lesion by the following formula (5):

[0137] f=FXY-μ (5)

[0138] In formula (5), f is the contact resistance between the slender instrument 250 and the blood vessel wall 410 or the lesion, F is the total resistance of the slender instrument 250 in the blood vessel collected in real time, X is the system noise, Y is the extravascular noise, and μ is the intravascular blood flow noise.

[0139] The force detection method provided in this embodiment calculates the contact resistance between the elongated instrument 250 and the vessel wall 410 or lesion based on the collected actual driving force, system noise, extravascular noise, and intravascular blood flow noise. Thus, the force detection method provided in this embodiment separates the system noise, extravascular noise, and intravascular noise from the actual driving force, thereby obtaining a more accurate intravascular noise. This, in turn, lays the foundation for providing more accurate force feedback to operators (e.g., physicians) when operating elongated instruments in interventional surgery systems, thereby improving the reliability and safety of the surgery.

[0140] Specifically, see Figure 5a and Figure 5f, wherein the force detection method provided in this embodiment can separate the system noise, extravascular noise, and intravascular noise from the actual driving force, and the obtained touch resistance is more accurate. According to the above formula (5), it is not difficult to judge that when the touch resistance f between the slender instrument 250 and the vascular wall 410 or the lesion tends to 0, it indicates that there is no contact between the slender instrument 250 and the vascular wall 410 or the lesion, and the operation is safe. However, when the two collide, the total resistance F of the slender instrument 250 in the blood vessel collected in real time is bound to increase, and the touch resistance f between the slender instrument 250 and the vascular wall 410 or the lesion also increases. Afterwards, based on the trigger resistance f and actual needs, a warning can be issued that there may be certain risks in the current operation, thereby improving the safety and reliability of the operation.

[0141] Preferably, in one exemplary embodiment, the interventional surgery system includes a memory (not shown); the memory stores pre-calibrated reference system noise, pre-calibrated reference extravascular noise, and / or reference intravascular blood flow noise. Accordingly, step S110 specifically uses the reference system noise read from the memory as the system noise; step S120 specifically uses the reference extravascular noise read from the memory as the extravascular noise; and step S130 specifically uses the reference intravascular blood flow noise read from the memory as the intravascular blood flow noise.

[0142] Therefore, the force detection method provided in this embodiment can save manpower and material resources by obtaining the pre-calibrated reference system noise, the pre-calibrated reference extravascular noise and / or the reference intravascular blood flow noise from the memory, without affecting the accuracy of the acquired touch resistance between the slender instrument and the blood vessel wall or lesion, thereby further improving the efficiency of obtaining the touch resistance between the slender instrument and the blood vessel wall or lesion.

[0143] In some exemplary embodiments, the reference system noise is calibrated by the following steps:

[0144] A plurality of system noise samples of the interventional surgery system to be calibrated are obtained; and the reference system noise is calibrated based on the distribution of the system noise samples.

[0145] Therefore, the method of obtaining the reference system noise by calibrating the distribution of multiple system noise samples in this embodiment can further reduce the calibration error, thereby laying a foundation for quickly and accurately obtaining the system noise.

[0146] Specifically, those skilled in the art should be able to understand that for a delivery system of an interventional surgical system (such as a surgical robot) produced under a stable process, the circuit, mechanics, and system software of the interventional surgical system are not much different. Whether in theory or in practical application, the difference in the whole machine is also limited. Since the system noise actually tested conforms to the normal distribution, the system noise of the interventional surgical system can be regarded as a certain value and stored in the memory (register of the controller). When calculating the touch resistance between the slender instrument and the blood vessel wall or lesion, it is only necessary to read it from the memory without re-executing steps S111-S113 each time to obtain the system noise. This setting can lay the foundation for improving the efficiency of obtaining the touch resistance without affecting the accuracy of the acquired touch resistance between the slender instrument and the blood vessel wall or lesion. Further, the specific method for obtaining the system noise sample can refer to the detailed content of steps S111-S113 above, which will not be repeated here. It should be noted that although the reference system noise stored in the memory is a certain value in actual use, the present invention does not limit the specific value of the constant value. Since the reference system noise obeys the normal distribution, the constant value can be any value within a reasonable value range.

[0147] In some exemplary embodiments, the reference extravascular noise is calibrated by the following steps:

[0148] For the blood vessel to be calibrated, multiple extravascular noise samples are obtained based on the current movement direction of the slender instrument relative to the current blood vessel to be calibrated, and based on the distribution of the extravascular noise samples, the reference extravascular noise corresponding to the current blood vessel to be calibrated and the current movement direction is calibrated.

[0149] Therefore, the force detection method provided in this embodiment obtains multiple extravascular noise samples for each blood vessel to be calibrated based on the current movement direction of the slender instrument relative to the current blood vessel to be calibrated, and calibrates the reference extravascular noise corresponding to the current blood vessel to be calibrated and the current movement direction based on the distribution of the extravascular noise samples. This method of calibrating the reference extravascular noise based on the blood vessel and the movement direction of the slender instrument relative to the blood vessel can further reduce calibration errors, thereby laying the foundation for quickly and accurately obtaining extravascular noise.

[0150] For example, taking the human body as the target subject, the blood flow rate and viscosity in different parts of the body (e.g., the heart, brain, or extremities) may vary. The current direction of movement of the elongated instrument relative to the vessel to be calibrated includes: the direction of movement of the elongated instrument being the same as or opposite to the direction of blood flow in the vessel to be calibrated. In these two cases, the blood flow resistance experienced by the elongated instrument is obviously different. Therefore, obtaining multiple sets of reference extravascular noise based on different blood vessels and the direction of movement of the elongated instrument relative to the vessel to be calibrated can lay the foundation for further improving the accuracy of extravascular noise. Similar to the principle of obtaining reference system noise, for the same vessel to be calibrated and the same elongated instrument movement direction, multiple extravascular noise samples also conform to a normal distribution. The reference extravascular noise obtained by calibration can also be a fixed value. It should be noted that although the reference extravascular noise stored in the memory is a fixed value in actual use, the present invention does not limit the specific value of this fixed value. Since the reference extravascular noise follows a normal distribution, this fixed value can be any value within a reasonable range. Further, the specific method for obtaining each extravascular noise sample is described in detail in steps S121 and S122, and will not be repeated here. Furthermore, the multiple extravascular noise samples and the multiple intravascular blood flow noise samples may be derived from multiple measurements of the same calibration subject, or from measurements of different calibration subjects, and this is not limited in the present invention.

[0151] In some exemplary embodiments, the reference intravascular blood flow noise is obtained by calibration through the following steps:

[0152] For the blood vessel to be calibrated, multiple samples of intravascular blood flow noise are obtained based on the current movement direction of the slender instrument relative to the current blood vessel to be calibrated, and based on the distribution of the intravascular blood flow noise samples, the reference intravascular blood flow noise corresponding to the current blood vessel to be calibrated and the current movement direction is calibrated.

[0153] Therefore, the force detection method provided in this embodiment obtains multiple intravascular blood flow noise samples for each blood vessel to be calibrated based on the current movement direction of the slender instrument relative to the current blood vessel to be calibrated. Then, based on the distribution of the intravascular blood flow noise samples, the reference intravascular blood flow noise samples corresponding to the current blood vessel to be calibrated and the current movement direction are calibrated. This method of calibrating the reference intravascular blood flow noise based on the blood vessel and the movement direction of the slender instrument relative to the blood vessel can further reduce calibration errors, thereby laying the foundation for quickly and accurately obtaining extravascular noise.

[0154] It should be noted that the basic principle for obtaining reference intravascular blood flow noise based on multiple intravascular blood flow noise samples is essentially the same as the principle for obtaining reference extravascular noise based on multiple extravascular noise samples. To avoid redundancy, this description is omitted here. For more details, please refer to the adaptive understanding of obtaining reference extravascular noise above. Furthermore, the specific method for obtaining each intravascular blood flow noise sample is described in detail in steps S131 and S132, and will not be further elaborated here.

[0155] Correspondingly, the force detection method provided in this embodiment obtains extravascular noise and intravascular blood flow noise through the following steps:

[0156] obtaining a movement direction of the elongated instrument relative to a blood vessel of the target object;

[0157] A reference extravascular noise corresponding to the movement direction and the blood vessel is obtained from the memory, and the reference extravascular noise is used as the extravascular noise; and / or a reference intravascular blood flow noise corresponding to the movement direction and the blood vessel is obtained from the memory, and the reference intravascular blood flow noise is used as the intravascular blood flow noise.

[0158] The force detection method provided in this embodiment can obtain extravascular noise and / or intravascular blood flow noise based on the movement direction and the reference extravascular noise and / or intravascular blood flow noise corresponding to the blood vessel, thereby making the obtained extravascular noise and intravascular blood flow noise more accurate.

[0159] As previously described, the primary influences on the elongated instrument 250 regarding extravascular noise are the Y-valve 263, the vascular sheath 262, and the blood flow within the delivery channel assembly 260. For blood vessels of the same target object (e.g., the human body), the vessel structures are substantially similar, and the blood viscosity and flow rate do not differ significantly. Therefore, in other embodiments, the body location of the vessel and the relationship between the movement direction of the elongated instrument 250 and the blood flow direction within the current vessel to be calibrated may not be considered. Multiple extravascular noise samples and / or multiple intravascular blood flow noise samples may be from vessels to be calibrated in different body locations or from the same vessel to be calibrated. When acquiring multiple extravascular noise samples and / or multiple intravascular blood flow noise samples, the movement direction of the elongated instrument 250 may be the same as or different from the blood flow direction within the current vessel to be calibrated. However, it should be noted that when acquiring the reference intravascular blood flow noise, the elongated instrument 250 must not contact the vessel wall or lesion.

[0160] Example 2

[0161] This embodiment provides a force feedback method for a slender instrument used in an interventional surgical system. Figure 6, which schematically shows a flow chart of the force feedback method provided by this embodiment. Figure 6 It can be seen that the force feedback method provided in this embodiment includes the following steps:

[0162] S210: Acquire an image of the region of interest;

[0163] S220: Segmenting the region of interest image to obtain a target blood vessel image and a slender instrument image respectively;

[0164] S230: fusing the target blood vessel image and the slender instrument image to obtain an intraoperative target image;

[0165] S240: Using the force detection method described in any implementation of the first embodiment, obtaining the contact resistance between the elongated instrument 250 and the blood vessel wall or lesion in real time;

[0166] S250: Displaying the intraoperative target image on a display device in real time, and visually superimposing the touch resistance on the intraoperative target image.

[0167] The force feedback method provided in this embodiment segments the acquired region of interest image to display only the target vessel image and the image of the slender instrument on the intraoperative target image. It also displays the contact resistance between the slender instrument and the vessel wall or lesion in real time on the intraoperative image. This not only makes it easier for the surgeon to perceive the contact resistance between the slender instrument and the vessel wall or lesion in real time, but also, since the contact resistance is acquired using the force detection method provided in Example 1, the visual presentation of the contact resistance by the force feedback method provided in this embodiment is more accurate, thereby ensuring the smooth delivery of the slender instrument and improving the safety and reliability of the surgery.

[0168] Specifically, see Figure 7 The basic principle of the force feedback method provided in this embodiment is as follows: First, image data of the region of interest is acquired (e.g., captured DSA image data), vascular information is extracted to obtain a target vessel image I, and information about the tip (distal end) of the slender instrument is extracted to obtain a slender instrument image II. The target vessel image I and slender instrument image II are then fused to obtain an intraoperative target image III. Next, the contact resistance between the slender instrument and the vessel wall or lesion is captured in real time and visualized (e.g., by dividing the contact resistance into intervals, assigning different flashing frequencies to each interval, and flashing the contacted vessel wall or lesion) over the intraoperative target image III, resulting in the final displayed image IV.

[0169] More specifically, taking DSA angiography images (imaging) as an example, see Figure 8For any frame of DSA angiography (including blood vessels, elongated instruments, and surrounding organs and tissues such as muscle and bone), image processing techniques, such as commonly known as intelligent cropping, are used to separate the blood vessels, yielding a pure image consisting solely of the blood vessels, namely, target vessel image I. The position of the elongated instrument's tip is then identified, and image processing techniques are used to generate a pure image consisting solely of the elongated instrument, namely, elongated instrument image II. These two images are then fused (e.g., using a masking algorithm) to produce an image consisting solely of the blood vessels and elongated instrument, referred to as intraoperative target image III. It should be noted that target vessel image I, elongated instrument image II, and intraoperative target image III are images representing the force feedback process; the operator ultimately sees image IV. Furthermore, it should be noted that the present invention does not limit the method for acquiring the region of interest image, the specific method for segmenting to obtain target vessel image I, the specific method for segmenting to obtain elongated instrument image II, or the method for fusing target vessel image I and elongated instrument image II. For more details, please refer to the prior art known to those skilled in the art and will not be elaborated upon here.

[0170] Preferably, in one exemplary embodiment, step S250 displays the intraoperative target image on a display device in real time and visually superimposes the touch resistance on the intraoperative target image, specifically including:

[0171] S251: Displaying a target blood vessel in the intraoperative target image using a first color;

[0172] S252: Displaying the elongated instrument in the intraoperative target image using a second color;

[0173] S253: Obtaining a current force level corresponding to the touch resistance according to the touch resistance and force level classification rule; obtaining a third color and / or flashing frequency for displaying the touch resistance according to the current force level and a correspondence between the force level and the display color and / or the display flashing frequency;

[0174] S254: Display the touched blood vessel area using a third color and / or according to the flashing frequency.

[0175] The force feedback method provided in this embodiment uses a first color to display the target vessel, a second color to display the elongated instrument, and a third color and / or at a flashing frequency to display the touched vessel region or lesion. Thus, by using different colors to display the target vessel, the elongated instrument, and the touched vessel region or lesion, and flashing the displayed touched vessel region according to the magnitude of the touch resistance, the operator can be alerted more intuitively, thereby better assisting the operator in improving surgical efficiency and safety.

[0176] Specifically, still taking the DSA angiography image (image) as an example, a DSA angiography image is usually in black and white, with blood vessels appearing black and other body substances appearing white or transparent. For example, see Figure 9a , which schematically shows one example of the state of the touch resistance of the force detection system provided by this embodiment using a display screen for force feedback display. Figure 9a It can be seen that for the content on the display screen, the blood vessels can be displayed in black and the elongated instrument 250 can be displayed in blue. When the elongated instrument 250 touches the blood vessel wall 410, the touched blood vessel segment can be displayed in other colors different from the black and white after angiography ( Figure 9a The blood vessel segment located in the upper left of the figure and clearly bolded), as shown in red, is where the touched blood vessel wall 410 is located.

[0177] More specifically, in some embodiments, touch resistance can be categorized into force levels. For example, when the touch resistance is greater than 0 and less than a first threshold, it is a low level, corresponding to a first warning color; when the touch resistance is greater than the first threshold and less than a second threshold, it is a medium level, corresponding to a second warning color; and when the touch resistance is greater than the second threshold, it is a high level, corresponding to a third warning color. Higher levels correspond to darker colors, such as yellow for the first warning color, orange for the second warning color, and red for the third warning color. The color of the touched blood vessel wall varies depending on the current touch resistance value, providing a more intuitive warning to the operator. In yet other embodiments, the transparency of the display can vary with the force applied, with stronger force resulting in a faster rate of change and weaker force resulting in a slower rate of change. For example, when the touch resistance is low, the display flashes at a first frequency; when the touch resistance is medium, the display flashes at a second frequency; and when the touch resistance is high, the display flashes at a third frequency. The third frequency is greater than the second frequency, and the second frequency is greater than the first frequency. Thus, a flashing pattern with different frequencies is generated based on the touch resistance, further alerting the operator (e.g., a doctor). Furthermore, in a specific implementation, the N×N pixel matrix area in contact with the slender instrument can be assigned a color (such as black) or a color value (such as red) that is different from the target blood vessel, and then its transparency change rate can be changed with the change of the force value. For example, when the force value is large, the transparency change rate is fast, thereby realizing the transparency change of the N×N pixel matrix area and achieving the effect of image flashing.

[0178] Furthermore, the contact resistance value between the elongated instrument 250 and the blood vessel wall 410 or the lesion can be displayed in real time. Figure 9a As shown, the touch resistance value is displayed above the image. Thus, when the elongated instrument 250 does not touch the vessel wall 410 or the lesion (i.e., when no warning is displayed), the operator can always control the force of the operation, thereby ensuring the safety of the operation. It should be noted that, Figure 9a and Figure 9b The "Current Force Value xN" in the upper left corner of the diagram is merely an example of the current touch force value being xN (Newtons). This value varies with the current touch force value, such as 5N, 4.8N, etc. Obviously, the present invention does not impose any limitation on this value.

[0179] Preferably, in some exemplary embodiments, the force feedback method further comprises: displaying the target blood vessel image and the intraoperative target image superimposed with the touch resistance in split-screen on a display device.

[0180] Specifically, see Figure 9b , which schematically shows another state example of the touch resistance of the force detection system provided by this embodiment using a display screen for force feedback display. Figure 9b As can be seen, this embodiment not only displays the intraoperative target image with touch resistance superimposed on it, but also displays a reference image of the blood vessel in its normal state. This method of comparing the intraoperative image and the reference image in real time facilitates the operator's abnormality diagnosis, further assisting the operator in improving surgical safety.

[0181] Example 3

[0182] This embodiment provides a force detection system, wherein the elongated instrument is used in an interventional surgery system, wherein the interventional surgery system includes a delivery channel assembly for delivering the elongated instrument, wherein the delivery channel assembly includes a delivery catheter. Figure 10 The force detection system provided in this embodiment includes a noise acquisition unit 510 and a logic processing unit 520. More specifically, the noise acquisition unit 510 is configured to perform the following operations:

[0183] obtaining system noise of the interventional surgery system;

[0184] acquiring extravascular noise when the delivery catheter carrying the elongated device enters a blood vessel of a target subject and the elongated device is located within the delivery catheter;

[0185] acquiring blood flow noise in the blood vessel when the delivery catheter is located in the blood vessel and the distal end of the elongated device is located outside the delivery catheter;

[0186] collecting in real time the total resistance experienced by the elongated instrument in the blood vessel;

[0187] The logic processing unit 520 is configured to perform the following operations: calculate the contact resistance between the slender instrument and the blood vessel wall or lesion according to the total resistance, the system noise, the extravascular noise, and the intravascular blood flow noise.

[0188] Therefore, the force detection system provided in this embodiment fully considers all noise factors (including system noise, extravascular noise, and intravascular noise) to which the slender instrument is subjected. By extracting the system noise, extravascular noise, and intravascular noise, as well as the total resistance encountered by the slender instrument in the blood vessel acquired in real time, the influence of noise factors can be effectively eliminated, and the contact resistance between the slender instrument and the blood vessel wall or lesion can be more accurately obtained. This lays the foundation for providing more accurate force feedback to operators (such as doctors) when operating slender instruments in interventional surgery systems, better assisting operators in more stable operation of slender instruments, thereby improving the reliability and safety of the surgery, and reducing the reliance on the operator's clinical experience, thereby improving surgical efficiency.

[0189] It can be understood that the force detection system provided in this embodiment has the same basic principle as the force detection method provided in the above embodiment. Therefore, for more detailed content about the force detection system provided in this embodiment, please refer to the above explanation of the force detection method embodiment for adaptive understanding, and no further explanation will be given here.

[0190] Preferably, in one exemplary embodiment, the force detection system further includes an image acquisition unit 530 and a display unit 540 .

[0191] Specifically, the image acquisition unit 530 is configured to acquire an image of the region of interest. The logic processing unit 520 is further configured to perform the following operations:

[0192] Segmenting the region of interest image to obtain a target blood vessel image and a slender instrument image respectively;

[0193] fusing the target blood vessel image and the slender instrument image to obtain an intraoperative target image;

[0194] obtaining in real time the contact resistance between the elongated instrument and the blood vessel wall or lesion;

[0195] The display unit 540 is configured to display the intraoperative target image in real time and visually superimpose the touch resistance on the intraoperative target image.

[0196] The force detection system provided in this embodiment uses a logic processing unit to segment the acquired region of interest image, displaying only the target vessel image and the image of the elongated instrument on the intraoperative target image. It also displays the contact resistance between the elongated instrument and the vessel wall or lesion in real time on the intraoperative image. This not only makes it easier for the surgeon to perceive the contact resistance between the elongated instrument and the vessel wall or lesion in real time, but also, since the contact resistance is acquired using the force detection method provided in Example 1, the visual representation of the contact resistance by the force detection system provided in this embodiment is more accurate, thereby ensuring the smooth delivery of the elongated instrument and improving the safety and reliability of the surgery.

[0197] It can be understood that the force detection system provided in this embodiment has the same basic principle as the force feedback method provided in the above embodiment. Therefore, for more detailed information about the force detection system provided in this embodiment, please refer to the above description of the force feedback method embodiment for adaptive understanding, and no further explanation will be given here.

[0198] Example 4

[0199] This embodiment provides a surgical system, comprising a surgical robot and the force detection system described above. Since the surgical system provided by this embodiment includes the force detection system described above, the surgical system provided by this embodiment is part of the same inventive concept. Therefore, the surgical system provided by this embodiment has at least all the advantages of the force detection systems provided by the above embodiments. To avoid redundancy, each of these advantages will not be detailed here. For more details, please refer to the above description of the beneficial effects of the force detection system.

[0200] Example 5

[0201] This embodiment provides a readable storage medium having a computer program stored therein. When executed by a processor, the computer program can implement the force detection method and / or force feedback method described above. Because the readable storage medium provided by this embodiment and the force detection method and / or force feedback method described above are based on the same inventive concept, the readable storage medium provided by this embodiment has all the advantages of the force detection method and / or force feedback method described above. The beneficial effects of the readable storage medium provided by this embodiment will not be elaborated upon herein.

[0202] The readable storage medium provided in the embodiment of the present invention can adopt any combination of one or more computer-readable media. The readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, a system, device or component of electricity, magnetism, light, electromagnetic, infrared or semiconductor, or any combination thereof. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer hard disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this article, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, a device or a device or used in combination with it.

[0203] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wire, optical cable, RF, etc., or any suitable combination thereof.

[0204] The computer program code for performing the operations of the present embodiment can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0205] It should be noted that the devices and methods disclosed in the embodiments of this document may also be implemented in other ways. The device embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of the devices, methods, and computer program products according to the various embodiments of this document. In this regard, each box in the flowchart or block diagram may represent a module, program, or portion of code, wherein the module, program segment, or portion of code contains one or more executable instructions for implementing a specified logical function, and the module, program segment, or portion of code contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the boxes may also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes may actually be executed substantially in parallel, or they may sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart, may be implemented by a dedicated hardware-based system for performing the specified function or action, or may be implemented by a combination of dedicated hardware and computer instructions.

[0206] In addition, the functional modules in the various embodiments of this document may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0207] The above description is merely a description of preferred embodiments of the present invention and does not limit the scope of the present invention. Any changes or modifications made by persons skilled in the art based on the above disclosure are within the scope of protection of the present invention. Obviously, various modifications and variations may be made by persons skilled in the art without departing from the spirit and scope of the present invention. Thus, if such modifications and variations fall within the scope of the present invention and its equivalents, the present invention is intended to include such modifications and variations.

Claims

1. A readable storage medium, characterized in that: The readable storage medium stores a computer program, and when the computer program is executed by a processor, a force detection method for an elongated instrument is implemented. The elongated instrument is used in an interventional surgery system, and the interventional surgery system includes a delivery channel assembly for delivering the elongated instrument, and the delivery channel assembly includes a delivery catheter. The force detection method includes: obtaining system noise of the interventional surgery system; acquiring extravascular noise when the delivery catheter carrying the elongated device enters a blood vessel of a target subject and the elongated device is located within the delivery catheter; acquiring blood flow noise in the blood vessel when the delivery catheter is located in the blood vessel and the distal end of the elongated device is located outside the delivery catheter; collecting in real time the total resistance experienced by the elongated instrument in the blood vessel; The contact resistance between the slender instrument and the blood vessel wall or lesion is calculated according to the total resistance, the system noise, the extravascular noise and the intravascular blood flow noise.

2. The readable storage medium according to claim 1, wherein The force detection method comprises: When the interventional surgery system is in a non-working state, driving the elongated instrument to move according to a preset acceleration, and collecting a first driving force for driving the elongated instrument; calculating a theoretical driving force for driving the elongated instrument according to the mass of the elongated instrument and the preset acceleration; The system noise is calculated according to the first driving force and the theoretical driving force.

3. The readable storage medium according to claim 2, wherein: The force detection method comprises: When the delivery catheter is located within the blood vessel and the elongated device is located within the delivery catheter, collecting a second driving force for driving the elongated device; The extravascular noise is calculated based on the second driving force and the system noise.

4. The readable storage medium according to claim 3, wherein: The force detection method comprises calculating the extravascular noise by the following steps: When the delivery catheter is located in the blood vessel, the distal end of the elongated device is located outside the delivery catheter, and the elongated device does not touch the blood vessel wall or the lesion, collecting a third driving force for driving the elongated device; The intravascular blood flow noise is calculated based on the third driving force, the system noise, and the extravascular noise.

5. The readable storage medium according to claim 1, wherein The force detection method includes calculating the contact resistance between the elongated instrument and the blood vessel using the following formula: f=FXY-μ Wherein, f is the contact resistance between the slender instrument and the blood vessel, F is the total resistance of the slender instrument in the blood vessel collected in real time, X is the system noise, Y is the extravascular noise, and μ is the blood flow noise in the blood vessel.

6. The readable storage medium according to any one of claims 1 to 5, characterized in that: The interventional surgery system includes a memory; the memory stores pre-calibrated reference system noise, pre-calibrated reference extravascular noise and / or reference intravascular blood flow noise; The force detection method comprises: The reference system noise read from the memory is used as the system noise, the reference extravascular noise read from the memory is used as the extravascular noise, and / or the reference intravascular blood flow noise read from the memory is used as the intravascular blood flow noise.

7. The readable storage medium according to claim 6, wherein: The force detection method further includes calibrating the reference system noise, reference extravascular noise, and / or reference intravascular blood flow noise respectively through the following steps: Acquire multiple system noise samples of the interventional surgery system to be calibrated; and calibrate the reference system noise according to the distribution of the system noise samples; For the blood vessel to be calibrated, a plurality of extravascular noise samples are acquired according to the current movement direction of the elongated instrument relative to the blood vessel to be calibrated, and the reference extravascular noise corresponding to the blood vessel to be calibrated and the current movement direction is calibrated according to the distribution of the extravascular noise samples; and / or For the blood vessel to be calibrated, multiple samples of intravascular blood flow noise are obtained based on the current movement direction of the slender instrument relative to the current blood vessel to be calibrated, and based on the distribution of the intravascular blood flow noise samples, the reference intravascular blood flow noise corresponding to the current blood vessel to be calibrated and the current movement direction is calibrated.

8. The readable storage medium according to claim 7, wherein: The force detection method comprises: obtaining a movement direction of the elongated instrument relative to a blood vessel of the target object; A reference extravascular noise corresponding to the movement direction and the blood vessel is obtained from the memory, and the reference extravascular noise is used as the extravascular noise; and / or a reference intravascular blood flow noise corresponding to the movement direction and the blood vessel is obtained from the memory, and the reference intravascular blood flow noise is used as the intravascular blood flow noise.

9. The readable storage medium according to any one of claims 1 to 8, characterized in that: When the computer program is executed by a processor, the following steps are further implemented: Acquire an image of the region of interest; Segmenting the region of interest image to obtain a target blood vessel image and a slender instrument image respectively; fusing the target blood vessel image and the slender instrument image to obtain an intraoperative target image; obtaining in real time the contact resistance between the elongated instrument and the blood vessel wall or lesion; The intraoperative target image is displayed in real time on a display device, and the touch resistance is visually superimposed on the intraoperative target image.

10. A force detection system for an elongated instrument, wherein the elongated instrument is used in an interventional surgical system, the interventional surgical system comprising a delivery channel assembly for delivering the elongated instrument, the delivery channel assembly comprising a delivery catheter; The force detection system includes a noise acquisition unit and a logic processing unit; The noise acquisition unit is configured to perform the following operations: obtaining system noise of the interventional surgery system; acquiring extravascular noise when the delivery catheter carrying the elongated device enters a blood vessel of a target subject and the elongated device is located within the delivery catheter; acquiring blood flow noise in the blood vessel when the delivery catheter is located in the blood vessel and the distal end of the elongated device is located outside the delivery catheter; collecting in real time the total resistance experienced by the elongated instrument in the blood vessel; The logic processing unit is configured to perform the following operations: calculate the contact resistance between the slender instrument and the blood vessel wall or lesion according to the total resistance, the system noise, the extravascular noise, and the intravascular blood flow noise.

11. A surgical system, characterized in that: A force detection system comprising a surgical robot and the elongated instrument according to claim 10.

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