Catheter motion control methods, devices, systems and storage media

Abstract

This application relates to a catheter motion control method, device, system, storage medium, and computer program product. The method includes: periodically acquiring the projected position of a control lever in a control coordinate system within a catheter controller; determining the catheter's motion state based on the current period's projected position of the control lever; determining the projected position of the catheter's distal end in the catheter coordinate system; obtaining the catheter position based on the catheter's motion state and the distal end's projected position; obtaining the motor's angular displacement based on the catheter position using an inverse kinematics algorithm; and controlling the motor's rotation based on the motor's angular displacement to move the distal end of the catheter in conjunction with the catheter. This method can improve the accuracy of catheter motion control.

Description

Technical Field

[0001] This application relates to the field of robot control technology, and in particular to a method, apparatus, system, storage medium, and computer program product for controlling the motion of a conduit. Background Technology

[0002] In bronchial robots, the insertion of a catheter into a target object requires controlling the catheter's movable end to change its position within the target object. Existing catheter motion control methods often employ a trackball for bidirectional bending motion control or a handle to control two-stage sheaths. However, these methods only consider simple position mapping and lack fine-tuning of parameters, resulting in inaccurate catheter motion control. Summary of the Invention

[0003] Therefore, it is necessary to provide a catheter motion control method, device, system, computer-readable storage medium, and computer program product that can improve the accuracy of catheter motion control, addressing the problem of inaccurate traditional catheter motion control.

[0004] In a first aspect, this application provides a catheter motion control method, the method comprising:

[0005] The projected position of the control rod in the control coordinate system in the conduit controller is periodically acquired;

[0006] The motion state of the duct is determined based on the projected position of the control lever during the current cycle.

[0007] Determine the projected position of the catheter tip in the catheter coordinate system, and obtain the catheter position based on the catheter's motion state and the projected position of the catheter tip;

[0008] Based on the position of the guide tube, the angular displacement of the motor is obtained through inverse kinematics algorithm;

[0009] The motor rotation is controlled by the angular displacement of the motor, so that the guide ribbon moves the active end of the duct.

[0010] In one embodiment, the motion state of the conduit is determined based on the projected position of the control lever during the current cycle, including:

[0011] If the projection position of the current cycle is the center of the coordinate circle in the control rod coordinate system, then the motion state of the duct is determined to be no motion.

[0012] If the projection position of the current cycle has a component on the horizontal axis of the control lever coordinate system, then the motion state of the duct is determined to be bending towards the horizontal axis of the duct coordinate system.

[0013] If the projected position of the current cycle has a component in the vertical axis of the control rod coordinate system, then the motion state of the duct is determined to be bending towards the vertical axis of the duct coordinate system.

[0014] In one embodiment, the catheter position is obtained based on the catheter's motion state and the projected position of the catheter tip, including:

[0015] Obtain the previous cycle projection position of the active end of the control lever in the control lever coordinate system;

[0016] The control lever projection displacement is determined based on the projection position of the previous cycle and the projection position of the current cycle.

[0017] The speed of the control lever is determined based on the projected displacement and cycle duration of the control lever.

[0018] The incremental displacement of the catheter tip is determined based on the control lever speed and the catheter control cycle.

[0019] The catheter position is obtained based on the catheter's motion state, the catheter tip's projected position, and the catheter tip's incremental displacement.

[0020] In one embodiment, the projected position of the catheter tip is in polar coordinates; the catheter position is obtained based on the catheter's motion state, the projected position of the catheter tip, and the incremental displacement of the catheter tip, including:

[0021] Obtain the direction of catheter bending in the catheter coordinate system by the projected position of the catheter tip;

[0022] Obtain the first projection increment of the catheter tip incremental displacement in the catheter bending direction and the second projection increment in the direction perpendicular to the catheter bending direction;

[0023] The catheter position is determined based on the catheter's motion state, the first projection increment, the second projection increment, and the projection position of the catheter tip.

[0024] In one embodiment, the catheter motion control method further includes:

[0025] If the difference between the second projection increment and the first projection increment is greater than a preset difference, or if the second projection increment is greater than a preset multiple of the first projection increment, the catheter position is determined based on the catheter's motion state, the second projection increment, and the catheter tip projection position.

[0026] In one embodiment, before determining the catheter position based on the catheter's motion state and the projected position of the catheter tip, the method further includes:

[0027] Determine the direction of the control lever's bending in the control lever coordinate system based on the projection position of the current cycle;

[0028] Obtain the absolute value of the difference between the bending direction of the conduit and the bending direction of the control rod;

[0029] If the difference between the absolute value and the straight angle is less than or equal to the preset threshold, the position of the conduit is obtained based on the motion state of the conduit and the preset control rod projection position.

[0030] If the difference between the absolute value and the straight angle is greater than the preset threshold, the catheter position is obtained based on the catheter's motion state and the projection position of the catheter tip.

[0031] In one embodiment, an image acquisition device is installed at the movable end of the catheter; after controlling the rotation of the motor based on the angular displacement of the motor to move the movable end of the catheter along the guide wire, the method further includes:

[0032] Acquire images captured by the image acquisition device;

[0033] Determine the current position of the catheter based on the image;

[0034] Based on the current position of the catheter and the preset navigation plan, determine the next position of the catheter;

[0035] Based on the next position of the conduit, determine the next position of the control lever.

[0036] Secondly, this application also provides a catheter movement control device. The device includes:

[0037] The first position acquisition module is used to periodically acquire the projected position of the control rod in the control coordinate system in the conduit controller;

[0038] The motion state determination module is used to determine the motion state of the duct based on the projection position of the control lever during the current cycle.

[0039] The second position acquisition module is used to determine the projected position of the active end of the catheter in the catheter coordinate system, and to obtain the catheter position based on the motion state of the catheter and the projected position of the catheter end.

[0040] The motor angular displacement acquisition module is used to obtain the motor angular displacement based on the position of the guide tube using an inverse kinematics algorithm.

[0041] The control module is used to control the rotation of the motor based on the angular displacement of the motor, so that the guide ribbon drives the active end of the duct to move.

[0042] Thirdly, this application also provides a catheter motion control system, characterized in that the system comprises: a catheter, including at least one guidewire; the guidewire being located inside the catheter and penetrating the catheter, the other end of the guidewire being connected to the catheter for driving the movable end of the catheter to move; a motor, the motor being fixedly connected to one end of the guidewire; a catheter controller, the catheter controller including a control rod; an image acquisition device, the image acquisition device being installed at the movable end of the catheter, the image acquisition device being used to acquire images; and a computer device, including a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the following steps:

[0043] The position of the control rod in the conduit controller is periodically acquired;

[0044] The duct position is obtained based on the projected position of the control lever during the current cycle.

[0045] Based on the position of the guide tube, the angular displacement of the motor is obtained through inverse kinematics algorithm;

[0046] The motor rotation is controlled by the angular displacement of the motor, so that the guide ribbon moves the active end of the duct.

[0047] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, performs the following steps:

[0048] The position of the control rod in the conduit controller is periodically acquired;

[0049] The duct position is obtained based on the projected position of the control lever during the current cycle.

[0050] Based on the position of the guide tube, the angular displacement of the motor is obtained through inverse kinematics algorithm;

[0051] The motor rotation is controlled by the angular displacement of the motor, so that the guide ribbon moves the active end of the duct.

[0052] Fifthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, performs the following steps:

[0053] The position of the control rod in the conduit controller is periodically acquired;

[0054] The duct position is obtained based on the projected position of the control lever during the current cycle.

[0055] Based on the position of the guide tube, the angular displacement of the motor is obtained through inverse kinematics algorithm;

[0056] The motor rotation is controlled by the angular displacement of the motor, so that the guide ribbon moves the active end of the duct.

[0057] The aforementioned catheter motion control method, device, system, storage medium, and computer program product periodically acquire the projected position of the control rod in the control coordinate system within the catheter controller. Based on the projected position of the control rod in the current cycle, the motion state of the catheter is determined. The catheter position is obtained based on the motion state and the projected position of the catheter tip. The control rod position in the catheter controller is acquired periodically, and the catheter position changes with the control rod position in each cycle, which helps improve the accuracy of catheter motion control. Based on the catheter position, the motor angular displacement is obtained through an inverse kinematics algorithm. This method of obtaining the catheter position based on the control rod position and then calculating the motor angular displacement enables real-time changes in the control rod position, correspondingly changing the motor angular displacement. Since the motor is fixedly connected to the guidewire, the rotation of the motor pulls the guidewire, thereby driving the movement of the catheter's active tip, further improving the accuracy of catheter motion control. Attached Figure Description

[0058] Figure 1 This is a diagram illustrating the application environment of the catheter motion control method in one embodiment;

[0059] Figure 2 This is a flowchart illustrating a catheter motion control method in one embodiment;

[0060] Figure 3 This is a schematic diagram of a sub-process of S202 in one embodiment;

[0061] Figure 4 This is a schematic diagram of a sub-process of S203 in one embodiment;

[0062] Figure 5 This is a schematic diagram of a sub-process of S508 in one embodiment;

[0063] Figure 6 This is a schematic diagram of a sub-process of S203 in another embodiment;

[0064] Figure 7 This is a schematic diagram of a sub-process of S205 in one embodiment;

[0065] Figure 8 This is a schematic diagram of the composition of the catheter motion control system in one embodiment;

[0066] Figure 9 This is a schematic diagram of the catheter controller in one embodiment;

[0067] Figure 10 This is a schematic diagram of the movement of a conduit within a target object in one embodiment;

[0068] Figure 11 This is a schematic diagram illustrating the catheter position in one embodiment;

[0069] Figure 12 This is a schematic diagram of the overall flow of a catheter motion control method in one embodiment;

[0070] Figure 13 This is a schematic diagram of the projected position of the movable end of the control lever in one embodiment;

[0071] Figure 14 This is a schematic diagram of the projected position of the movable end of the catheter in one embodiment;

[0072] Figure 15 This is a schematic diagram of the projected displacement of the movable end of the control lever in one embodiment;

[0073] Figure 16 This is a schematic diagram of the incremental displacement of the catheter tip in a rectangular coordinate system in one embodiment;

[0074] Figure 17 This is a schematic diagram of the incremental displacement of the catheter tip in polar coordinates in one embodiment;

[0075] Figure 18 This is a schematic diagram of the circumferential rotational movement of the movable end of the catheter in one embodiment;

[0076] Figure 19 This is a schematic diagram of the straightening motion of the movable end of the catheter in one embodiment;

[0077] Figure 20 This is a schematic diagram of a branching path in a target object in one embodiment;

[0078] Figure 21 This is a structural block diagram of the catheter motion control device in one embodiment;

[0079] Figure 22 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0080] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0081] The catheter motion control method provided in this application embodiment can be applied to, for example... Figure 1The application environment shown is illustrated. The catheter motion control method is applied to a catheter motion control system, which includes a catheter 101, a guidewire 102, a motor 103, a catheter controller 104, and a computer device 105. The catheter 101 includes at least one guidewire 102, located inside and penetrating the catheter 101. One end of the guidewire 102 is connected to the motor 103, and the other end is connected to the catheter 101 to drive the movement of the distal end of the catheter 101. The catheter controller 104 includes a control rod 106. The computer device 105 executes the catheter motion control method. The computer device 105 periodically acquires the projected position of the control rod in the control coordinate system; based on the current period's projected position of the control rod, the catheter position is obtained; based on the catheter position, the motor angular displacement is obtained using an inverse kinematics algorithm; based on the motor angular displacement, the motor is controlled to rotate, causing the guidewire to drive the distal end of the catheter to move. The computer device can be a terminal or a server. The terminal can be, but is not limited to, various personal computers, laptops, smartphones, tablets, IoT devices, and portable wearable devices. IoT devices can include smart speakers, smart TVs, smart air conditioners, smart in-vehicle systems, etc. Portable wearable devices can include smartwatches, smart bracelets, head-mounted devices, etc. The server can be implemented using a standalone server or a server cluster consisting of multiple servers.

[0082] In one embodiment, such as Figure 2 As shown, a catheter motion control method is provided, which can be applied to... Figure 1 Taking a computer device as an example, the explanation includes the following steps:

[0083] S201, periodically acquire the projected position of the control rod in the control coordinate system in the conduit controller.

[0084] The catheter controller is a device used to control the bending, forward and backward movement, and rotation of the catheter. The catheter controller includes a control rod. In some embodiments, the control rod in the catheter controller can be controlled by an object being manipulated, thereby controlling the movement of the catheter. In other embodiments, the position of the control rod in the catheter controller can be controlled by inputting instructions from a computer device, thereby controlling the movement of the catheter. The control rod includes a fixed end and a movable end. The fixed end of the control rod is fixed to the catheter controller, and the position of the movable end of the control rod can be arbitrarily adjusted. In some embodiments, the control rod has a fixed length, and the movable end of the control rod can move within a hemispherical space with the fixed end of the control rod as its center, and the movable end of the control rod has a radius equal to the length of the control rod. In other embodiments, the control rod has a fixed length, and the movable end of the control rod can move within a circular space with the fixed end of the control rod as its center, and the movable end of the control rod has a radius equal to the length of the control rod. In still other embodiments, the length of the control rod is variable, and the movable end of the control rod can move within a hemispherical space with the variable length of the control rod as its center, and the movable end of the control rod has a radius equal to the variable length of the control rod.

[0085] The computer equipment uses the surface of the conduit controller as the projection plane of the control rod, and the fixed point of the control rod in the conduit controller as the center of the coordinate circle, to establish a control rod coordinate system on the control rod projection plane. Obtaining the projected position of the control rod in the control coordinate system refers to obtaining the projected position of the movable end of the control rod in the control coordinate system.

[0086] S202, determine the motion state of the duct based on the projected position of the control lever during the current cycle.

[0087] Here, the projected position of the current cycle refers to the projected position of the moving end of the control lever in the control coordinate system during the current cycle. The motion state of the conduit refers to the motion state of the moving end of the conduit in the conduit coordinate system.

[0088] The computer equipment establishes a catheter coordinate system on the catheter projection plane with the fixed end of the catheter as the center of the coordinate circle. The catheter projection plane refers to the plane perpendicular to the straight direction of the catheter. Motion states include no motion, bending motion towards the horizontal axis of the catheter coordinate system, or bending motion towards the vertical axis of the catheter coordinate system.

[0089] The computer equipment determines the motion state of the conduit in the conduit coordinate system based on the projection position of the moving end of the control lever in the control lever coordinate system during the current cycle.

[0090] S203, determine the projected position of the active end of the catheter in the catheter coordinate system, and obtain the catheter position based on the motion state of the catheter and the projected position of the catheter end.

[0091] The projected position of the catheter tip is the current projected position of the catheter's movable end in the catheter coordinate system. The catheter position refers to the projected position of the catheter's movable end in the catheter coordinate system. The computer device uses the projected position of the catheter tip as a starting point and moves according to the catheter's motion state to obtain the catheter position. The computer device controls the change of the movable end position of the catheter by controlling the change of the movable end position of a control lever. There is a mapping relationship between the projected position of the control lever in the current cycle and the catheter position. This application optimizes this mapping relationship to obtain the catheter position based on the projected position of the control lever in the current cycle, which helps improve the real-time performance of the control lever's control of the catheter position, thereby improving the accuracy of catheter motion control.

[0092] S204. Based on the position of the guide tube, the angular displacement of the motor is obtained through inverse kinematics algorithm.

[0093] Inverse kinematics (IK) is the process of determining the parameters of the movable joints needed to achieve the desired posture. Common IK algorithms include analytical and numerical methods. The guide position is data from the operating space; IK algorithms can transform this position into the joint space position. The computer obtains the current guide position and uses the guide position projected from the current cycle of the control lever as the target guide position. IK algorithms then transform the current guide position into the corresponding current joint space position and the target guide position into the corresponding target joint space position. The difference between the target joint space position and the current joint space position yields the joint space displacement. The motor angular displacement is the joint space displacement corresponding to the guide.

[0094] S205, based on the motor angular displacement control of the motor rotation, so that the guide ribbon drives the active end of the duct to move.

[0095] The angular displacement of the motor controlled by the computer equipment is obtained based on an inverse kinematics algorithm. The rotation of the motor pulls the guide wire fixed to the motor, thereby driving the movable end of the guide tube to move.

[0096] In the aforementioned catheter motion control method, the projected position of the control rod in the control coordinate system of the catheter controller is periodically acquired. Based on the projected position of the control rod in the current cycle, the motion state of the catheter is determined. According to the motion state of the catheter and the projected position of the catheter tip, the catheter position is obtained. The position of the control rod in the catheter controller is acquired periodically, and the catheter position changes with the change of the control rod position in each cycle, which helps to improve the accuracy of catheter motion control. Based on the catheter position, the motor angular displacement is obtained through inverse kinematics algorithm. This method of obtaining the catheter position based on the position of the control rod and then calculating the motor angular displacement realizes the real-time change of the control rod position and the corresponding change of the motor angular displacement. Since the motor is fixed to the guidewire, the rotation of the motor will pull the guidewire, thereby driving the movement of the catheter's active end, which improves the accuracy of catheter motion control.

[0097] In one embodiment, such as Figure 3 As shown, the motion state of the duct is determined based on the projected position of the control lever during the current cycle, including:

[0098] S302, if the projection position of the current cycle is the center of the coordinate circle of the control rod coordinate system, then the motion state of the duct is determined to be no movement.

[0099] The computer equipment determines the position of the projection of the current cycle within the control rod coordinate system. If the projection position of the current cycle is the center of the coordinate circle in the control rod coordinate system, it indicates that the position of the moving end of the control rod has not changed within the control rod coordinate system, and the computer equipment determines the duct's motion state to be stationary.

[0100] S304, if the projection position of the current cycle has a component on the horizontal axis of the control rod coordinate system, then the motion state of the duct is determined to be bending towards the horizontal axis of the duct coordinate system.

[0101] In the control lever coordinate system, if the projection position of the current cycle has a component on the horizontal axis of the control lever coordinate system, it indicates that the projection position of the active end of the control lever moves toward the horizontal axis of the control coordinate system, and the computer equipment determines that the motion state of the conduit is bending toward the horizontal axis of the conduit coordinate system.

[0102] S306, if the projected position of the current cycle has a component in the vertical axis of the control rod coordinate system, then the motion state of the duct is determined to be bending towards the vertical axis of the duct coordinate system.

[0103] In the control lever coordinate system, if the projection position of the current cycle has a component on the vertical axis of the control lever coordinate system, it indicates that the projection position of the active end of the control lever moves toward the vertical axis of the control coordinate system, and the computer equipment determines that the motion state of the conduit is bending toward the vertical axis of the conduit coordinate system.

[0104] In this embodiment, by determining the projection position of the current cycle in the control rod coordinate system, different projection positions in the control rod coordinate system can correspondingly determine different motion states of the active end of the catheter. This facilitates motion control of the catheter by controlling the position of the control rod, thereby improving the accuracy of catheter motion control.

[0105] In one embodiment, such as Figure 4 As shown, the catheter position is obtained based on the catheter's motion state and the projected position of the catheter tip, including:

[0106] S402, obtain the projection position of the active end of the control lever in the control lever coordinate system in the previous cycle.

[0107] Among them, the computer equipment obtains the projection position of the active end of the control lever in the control lever coordinate system obtained in the previous cycle as the projection position of the previous cycle.

[0108] S404, determine the control lever projection displacement based on the projection position of the previous cycle and the projection position of the current cycle.

[0109] The computer device calculates the difference between the projected position of the control lever in the current cycle and the projected position in the previous cycle, and uses this difference as the projected displacement of the control lever. The projected displacement of the control lever is used to characterize the displacement of the moving end of the control lever in the control lever coordinate system from the previous cycle to the current cycle.

[0110] S406, determine the speed of the control lever based on the projected displacement and cycle duration of the control lever.

[0111] The period duration refers to the time required to acquire the projected position of the control lever in the control lever coordinate system. The computer device determines the period duration for acquiring the projected position of the control lever in the control lever coordinate system. The computer device then removes the projected position of the control lever by the period duration, and the result is used as the control lever speed. The control lever speed is used to characterize the movement speed of the control lever's active end effector in the control lever coordinate system.

[0112] S408, determine the incremental displacement of the catheter tip based on the control lever speed and the catheter control cycle; obtain the catheter position based on the catheter's motion state, the catheter tip projection position, and the catheter tip incremental displacement.

[0113] The catheter control cycle refers to the control cycle of catheter movement. For example, a catheter control cycle shorter than the acquisition period of the control lever's projected position in the control lever coordinate system helps improve the control accuracy of catheter movement, avoids control lever failure, and enhances the accuracy of catheter movement control.

[0114] The computer equipment multiplies the control lever speed by the catheter control cycle to obtain the incremental displacement of the catheter tip. The incremental displacement of the catheter tip is used to indicate the displacement of the movable end of the catheter in the catheter coordinate system.

[0115] The computer equipment determines the catheter position based on the catheter's motion state, the projected position of the catheter tip, and the incremental displacement of the catheter tip. Specifically, when the catheter coordinate system is a Cartesian coordinate system, the computer equipment determines the direction of catheter motion based on the catheter's motion state, and adds the projected position of the catheter tip to the incremental displacement of the catheter tip along that direction to obtain the catheter position. When the catheter coordinate system is a polar coordinate system, the computer equipment determines the catheter position based on the catheter's motion state, the polar angle and polar diameter of the projected position of the catheter tip in the catheter coordinate system, and the polar angle and polar diameter of the incremental displacement of the catheter tip in the catheter coordinate system.

[0116] In this embodiment, the projected position of the movable end of the control lever in the previous cycle is obtained, thereby determining the projected displacement of the movable end of the control lever. The speed of the control lever is then determined based on the cycle duration. The speed of the control lever determines the displacement increment of the movable end of the catheter. Based on the motion state of the catheter, the incremental displacement of the catheter end is added to the projected position of the catheter end to obtain the catheter position. Maintaining a fixed relationship between the control lever speed and the catheter displacement change is beneficial for obtaining an accurate catheter position based on the control lever position, thus improving the accuracy of catheter motion control.

[0117] In one embodiment, such as Figure 5 As shown, the projected position of the catheter tip is in polar coordinates; the catheter position is obtained based on the catheter's motion state, the projected position of the catheter tip, and the incremental displacement of the catheter tip, including:

[0118] S502, obtain the direction of catheter bending in the catheter coordinate system by the projection position of the catheter tip.

[0119] In the case where the projection position of the catheter tip is in polar coordinates, the catheter bending direction refers to the polar angle direction of the projection position of the catheter tip in the catheter coordinate system. The computer equipment determines the polar angle of the projection position of the catheter tip in the catheter coordinate system, and thus uses the direction of the polar angle as the catheter bending direction.

[0120] S504, obtain the first projection increment of the catheter tip incremental displacement in the catheter bending direction and the second projection increment in the direction perpendicular to the catheter bending direction.

[0121] The computer device multiplies the incremental displacement of the catheter tip by the sine of the polar angle to obtain the first projected increment. The first projected increment is the component of the incremental displacement of the catheter tip in the catheter bending direction, used to characterize the increment of the catheter's movable tip in the catheter bending direction. The larger the first projected increment, the greater the degree of bending of the catheter's movable tip in the catheter bending direction.

[0122] The computer equipment multiplies the incremental displacement of the catheter tip by the cosine of the polar angle to obtain the second projection increment. The second projection increment is the component of the incremental displacement of the catheter tip perpendicular to the catheter bending direction, used to characterize the increment of the bending direction of the catheter's movable tip. The larger the second projection increment, the greater the rotation angle of the catheter's movable tip.

[0123] S506, determine the catheter position based on the catheter's motion state, the first projection increment, the second projection increment, and the projection position of the catheter tip.

[0124] In the case where the projected position of the catheter tip is in polar coordinates, the projected position of the catheter tip in the catheter coordinate system includes the polar diameter and polar angle. The computer device determines the direction of catheter movement based on the catheter's motion state. In the direction of catheter movement, the polar diameter of the projected position of the catheter tip in the catheter coordinate system is added to a first projection increment, and the polar angle of the projected position of the catheter tip in the catheter coordinate system is added to a second projection increment. The resulting polar coordinates are used as the catheter position.

[0125] For example, if the projected position of the catheter tip is represented by p(ρ(t),θ(t)), and the projected position of the catheter tip in the next cycle is represented by p(ρ(t+1),θ(t+1)), then the following formula holds:

[0126] ρ(t+1)=ρ(t)+m*Δp*sinθ(t)

[0127] θ(t+1)=θ(t)+n*Δp*cosθ(t)

[0128] Where ρ(t) represents the polar diameter of the catheter tip projection position in the catheter coordinate system, θ(t) represents the polar angle of the catheter tip projection position in the catheter coordinate system, ρ(t+1) represents the polar diameter of the catheter tip projection position in the next cycle in the catheter coordinate system, θ(t+1) represents the polar angle of the catheter tip projection position in the next cycle in the catheter coordinate system, Δp represents the incremental displacement of the catheter tip, and m and n are scaling parameters. The catheter tip projection position p(ρ(t+1), θ(t+1)) in the next cycle is the catheter position. In the actual motion control of the catheter, when m and n are equal to 1, the catheter position obtained by the above formula is inaccurate. In order to balance the actual bending speed of the catheter under different bending angles, m and n are introduced for adjustment, so that the catheter can rotate circumferentially faster at small bending angles and rotate circumferentially slower at large bending angles, so as to form a relatively coordinated control feel. In some embodiments, the values ​​of m and n can be fixed or can be functions of the polar diameter ρ(t).

[0129] In this embodiment, by obtaining the catheter bending direction in the catheter coordinate system from the projection position of the catheter tip in the polar coordinate system, a first projection increment and a second projection increment are obtained. Starting from the projection position of the catheter tip, the first projection increment is added in the bending direction of the catheter, and the second projection increment is added in the direction perpendicular to the bending direction of the catheter, thus obtaining the catheter position. For the bending motion of the catheter, the working space of the catheter is an approximately spherical envelope. Using polar coordinates to describe the pitch and yaw of the catheter is clearer and more intuitive. At the same time, the introduction of scaling parameters helps to improve the accuracy of catheter motion control.

[0130] In one embodiment, the catheter motion control method further includes: determining the catheter position based on the catheter's motion state, the second projection increment, and the catheter tip projection position when the difference between the second projection increment and the first projection increment is greater than a preset difference, or when the second projection increment is greater than a preset multiple of the first projection increment.

[0131] In catheter motion control, a typical bending motion is the circumferential rotation of the catheter. During this rotation, the degree of bending remains constant, while the direction of bending can change continuously. Specifically, when the bending direction changes by 360° or more, the trajectory of the catheter's movable end will be a circle. To more accurately control this circumferential rotation, this application proposes adding an adhesion function to the catheter's circumferential rotation, enabling precise circular motion and avoiding operational errors, thus aiding in control.

[0132] The criteria for determining the circumferential rotation of the catheter are: the difference between the second projection increment and the first projection increment is greater than a preset difference, or the second projection increment is greater than a preset multiple of the first projection increment. When the computer determines that the magnitudes of the first and second projection increments satisfy the criteria for the circumferential rotation of the catheter, it updates the first projection increment to 0. Based on the catheter's motion state, the second projection increment, and the projection position of the catheter tip, it determines the catheter position. That is, it ignores changes in the first projection increment and only considers changes in the second projection increment, thus allowing the catheter to undergo circumferential rotation.

[0133] In this embodiment, by ignoring the change in the first projection increment and only considering the change in the second projection increment when the magnitudes of the first and second projection increments satisfy the judgment condition for the circumferential rotation of the catheter, the catheter is guaranteed to perform circumferential rotation. The judgment condition for the circumferential rotation of the catheter is that the second projection increment is much larger than the first projection increment. By ignoring the influence of the first projection increment on determining the catheter position and only considering the second projection increment to determine the catheter position, the adhesion of the catheter to circumferential rotation is achieved, which can ensure that the catheter performs precise circumferential rotation and improve the accuracy of catheter motion control.

[0134] In one embodiment, such as Figure 6 As shown, before determining the catheter position based on the catheter's motion state and the projected position of the catheter tip, the following steps are also included:

[0135] S602, determine the direction of the control lever bending in the control lever coordinate system for the projection position of the current cycle.

[0136] The bending direction of the control lever refers to the angle of deflection of the projected position of the control lever in the current cycle relative to the horizontal axis in the control lever coordinate system. The computer equipment determines the bending direction of the control lever in the control lever coordinate system for the current cycle's projected position.

[0137] S604, obtain the absolute value of the difference between the bending direction of the conduit and the bending direction of the control rod.

[0138] The computer device subtracts the angle corresponding to the bending direction of the control rod from the angle corresponding to the bending direction of the conduit, and takes the absolute value of the difference.

[0139] S606, if the difference between the absolute value and the straight angle is less than or equal to the preset threshold, the position of the conduit is obtained according to the motion state of the conduit and the preset control rod projection position.

[0140] The computer device calculates the difference between the absolute value and the horizontal angle, and compares this difference to a preset threshold. If the difference between the absolute value and the horizontal angle is less than or equal to the preset threshold, it indicates that the catheter is undergoing a straightening motion. The catheter position is determined based on the movement state of the catheter's movable end and the preset control lever projection position. The straightening motion of the catheter refers to the catheter returning to a straight state.

[0141] The preset control lever projection position refers to the position of the control lever that allows the movable end of the catheter to move in the opposite direction to the projection position of the catheter end, until the catheter is in a straight state. The computer device determines the catheter position as it is in the straight state based on the movement of the movable end of the catheter and the preset control lever projection position.

[0142] S608, if the difference between the absolute value and the straight angle is greater than the preset threshold, the catheter position is obtained based on the movement state of the catheter and the projection position of the catheter end.

[0143] If the difference between the absolute value and the straight angle is greater than a preset threshold, it indicates that the catheter has not straightened. The computer device obtains the catheter position based on the movement state of the active end of the catheter and the projected position of the catheter end.

[0144] This embodiment addresses another typical bending motion during catheter motion control: the straightening motion of the catheter. Ideally, the direction of the control lever position should be opposite to the direction of the catheter tip's projected position to achieve straightening. In actual catheter motion control, operational errors can cause the catheter to rotate during straightening. To prevent rotation during straightening caused by operational errors, this application proposes determining the bending direction of the control lever and the catheter itself before determining the catheter position based on the catheter's motion state and the catheter tip's projected position. This determines whether the catheter is undergoing straightening. If straightening is confirmed, a preset control lever position is used to determine the catheter position, ensuring accurate straightening. If straightening is not confirmed, the catheter position is determined based on the catheter's motion state and the catheter tip's projected position, improving the accuracy of catheter motion control.

[0145] In one embodiment, such as Figure 7 As shown, an image acquisition device is installed at the movable end of the catheter; after the method controls the rotation of the motor based on the angular displacement of the motor, so that the guide wire moves the movable end of the catheter, the method further includes:

[0146] S702, acquire the image acquired by the image acquisition device.

[0147] An image acquisition device is installed at the movable end of the conduit. The movable end of the conduit moves to any position on the target object, and the computer equipment controls the image acquisition device to acquire an image at the location of the movable end of the conduit, thus obtaining the image acquired by the image acquisition device.

[0148] S704, Determine the current position of the catheter based on the image.

[0149] In this system, the computer device determines the current position of the catheter based on the acquired image. In some embodiments, the computer device establishes an image coordinate system based on the image acquired by the image acquisition device. Based on the current position of the catheter in the image coordinate system, and according to the transformation relationship between the pre-registered image coordinate system and the catheter coordinate system, the computer device obtains the position of the catheter in the catheter coordinate system, which is the current position of the catheter.

[0150] S706, based on the current position of the catheter and the preset navigation plan, determines the next position of the catheter.

[0151] The preset navigation plan refers to the duct position plan obtained based on the actual situation of the target object. The computer equipment determines the current position of the duct within the preset navigation plan and determines the next position of the duct within the preset navigation plan.

[0152] S708, based on the next position of the conduit, determines the next position of the control lever.

[0153] The computer device obtains the next position of the control rod based on the next position of the catheter, and continues to periodically obtain the position of the control rod in the catheter controller to obtain the position of the catheter, thereby controlling the movement of the active end of the catheter.

[0154] In this embodiment, the current position of the catheter is determined by acquiring images from an image acquisition device. Based on a preset navigation plan, the next position of the catheter is determined, and then the next position of the control lever is determined. This allows for adjustments to the next position of the control lever based on the actual situation of the target object and the preset navigation plan, thereby improving the accuracy of catheter motion control.

[0155] To illustrate the catheter movement control method and its effects in this solution in detail, a specific embodiment is described below:

[0156] The catheter motion control method is applied to a catheter motion control system. The system includes a catheter, a guidewire, a motor-driven catheter controller, and a computer. The catheter includes at least one guidewire located inside and extending through the catheter. One end of the guidewire is connected to a motor, and the other end is connected to the catheter to move the distal end of the catheter. The catheter controller includes a control lever, and the computer device executes the catheter motion control method. Figure 8The diagram shows the composition of a catheter motion control system. The target object is located on a support device, and the operator controls a control lever in the catheter controller, thereby controlling the catheter's movement within the target object. A display is mounted on the first vehicle to show images acquired by the endoscope. The catheter is mounted on a second vehicle. Figure 9 The diagram shows a possible catheter controller. The controller has three control levers: lever 1 and lever 2 control the bending movement of the catheter, while lever 3 controls the catheter's movement in four directions: up, down, left, and right. Other buttons on the controller are used for functions such as screenshotting, speed adjustment, irrigation, and mode switching. Figure 10 The diagram illustrates the movement of a catheter within a target object. A computer device controls the movement of the catheter's movable tip within the target object to the location of the target point.

[0157] The computer equipment periodically acquires the position of the control lever in the conduit controller, and obtains the conduit position based on the projected position of the control lever in the current cycle. For example... Figure 11 The diagram illustrates how the position of the conduit is determined based on the projected position of the control lever during its current cycle. Specifically, the computer equipment establishes a control lever coordinate system on the control lever's projection plane, with the fixed point of the control lever within the conduit controller as the center of the coordinate circle. Similarly, it establishes a conduit coordinate system on the conduit's projection plane, with the fixed end of the conduit as the center of the coordinate circle. Based on the projected position of the control lever during its current cycle, the projection position of the movable end of the control lever in the control lever coordinate system for the current cycle is determined. For example... Figure 12 The diagram shows the overall flow chart of the catheter motion control method.

[0158] If the projected position of the current cycle is the center of the coordinate circle in the control lever coordinate system, then the motion state of the duct is determined to be no movement; if the projected position of the current cycle has a component on the horizontal axis of the control lever coordinate system, then the motion state of the duct is determined to be bending towards the horizontal axis of the duct coordinate system; if the projected position of the current cycle has a component on the vertical axis of the control lever coordinate system, then the motion state of the duct is determined to be bending towards the vertical axis of the duct coordinate system. Figure 13 The diagram shows the projection position of the movable end of the control lever in the control lever coordinate system. Figure 14 The diagram shows the projection position of the movable end of the catheter in the catheter coordinate system.

[0159] The projected position of the active end of the conduit in the conduit coordinate system is determined. Based on the conduit's motion state and the projected position of the conduit end, the conduit position is obtained. Specifically, the projected position of the active end of the control lever in the control lever coordinate system for the previous cycle is obtained. Based on the projected position of the previous cycle and the current cycle, the projected displacement of the control lever is determined. For example... Figure 15 The diagram shows the projected displacement of the movable end of the control lever.

[0160] The computer device determines the speed of the control lever based on its projected displacement and the duration of the period. For example, the control lever speed is denoted by q', where q' = [q(t+1) - q(t)] / Δt, and Δt is the duration of the period for acquiring the control lever's position. The control lever speed can be calculated using first-order finite difference, second-order finite difference, central finite difference, or other calculation methods.

[0161] The computer equipment determines the incremental displacement of the catheter tip based on the control lever speed and the catheter control cycle. For example, Δp = q' * ΔT, where ΔT represents the catheter control cycle. Following this method, the incremental displacement of the catheter tip can be determined, dynamically changing with the control lever speed.

[0162] The computer equipment determines the catheter position based on the projected position of the catheter tip and the incremental displacement of the catheter tip. For example... Figure 16 The diagram shows the incremental displacement of the catheter tip in a rectangular coordinate system. The catheter position p(t+1) can be expressed by the following formula:

[0163] p(t+1)=p(t)+Δp=(x(t),y(t))+k*(Δx(t),Δy(t))=(x(t)+k*Δx(t), y(t)+k*Δy(t)).

[0164] Where p(t) represents the projected position of the catheter tip, Δp represents the incremental displacement of the catheter tip, x(t) and y(t) are the x and y coordinates of p(t) in the catheter coordinate system, respectively, Δx(t) and Δy(t) are the x and y coordinates of Δp in the catheter coordinate system, respectively, and k is the scaling factor. K is greater than 0 and can be adjusted as needed. Δp can be a fixed value or proportional to the current projected position of the control lever.

[0165] like Figure 17 The diagram illustrates the incremental displacement of the catheter tip in polar coordinates. The projected position of the catheter tip is in polar coordinates. The computer determines the catheter position based on the projected position and the incremental displacement. For the bending motion of the catheter, the workspace of the catheter is an approximately spherical envelope; using polar coordinates to describe the pitch and yaw of the catheter is clearer and more intuitive. Specifically, the computer obtains the catheter bending direction in the catheter coordinate system based on the projected position of the catheter tip; it obtains the first projection increment of the incremental displacement of the catheter tip along the bending direction and the second projection increment perpendicular to the bending direction; based on the first projection increment, the second projection increment, and the projected position of the catheter tip, the catheter position is determined.

[0166] For example, the first projection increment Δp_ρ = Δp*sinθ(t), the larger the first projection increment, the greater the degree of bending of the catheter's movable tip in the catheter bending direction. The second projection increment Δp_θ = Δp*cosθ(t), the larger the second projection increment, the greater the rotation angle of the catheter's movable tip. The projected position of the catheter tip is represented by p(ρ(t),θ(t)), and the projected position of the catheter tip in the next cycle is represented by p(ρ(t+1),θ(t+1)), then the following formula holds:

[0167] ρ(t+1)=ρ(t)+m*Δp_ρ

[0168] θ(t+1)=θ(t)+n*Δp_θ

[0169] Where ρ(t) represents the polar diameter of the catheter tip projection position in the catheter coordinate system, θ(t) represents the polar angle of the catheter tip projection position in the catheter coordinate system, ρ(t+1) represents the polar diameter of the catheter tip projection position in the next cycle in the catheter coordinate system, θ(t+1) represents the polar angle of the catheter tip projection position in the next cycle in the catheter coordinate system, and m and n are scaling parameters. The catheter tip projection position p(ρ(t+1),θ(t+1)) in the next cycle is the catheter position. In the actual motion control of the catheter, when m and n are equal to 1, the catheter position obtained by the above formula is inaccurate. In order to balance the actual bending speed of the catheter under different bending angles, m and n are introduced to adjust, so that the catheter can rotate circumferentially faster at small bending angles and rotate circumferentially slower at large bending angles, so as to form a relatively coordinated control feel. In some embodiments, the values ​​of m and n can be fixed or can be functions of the polar diameter ρ(t).

[0170] In catheter motion control, a typical bending motion is the circumferential rotation of the catheter. During this rotation, the degree of bending remains constant, while the bending direction can change continuously. Specifically, when the bending direction changes by 360° or more, the trajectory of the catheter's active end will be a circle. To more accurately control this circumferential rotation, this application proposes adding an adhesion function to the catheter's circumferential rotation, enabling precise circular motion and avoiding operational errors, thus aiding in control. The criteria for determining the circumferential rotation are: the difference between the second projection increment and the first projection increment is greater than a preset difference, or the second projection increment is greater than a preset multiple of the first projection increment. For example, the criteria for determining the circumferential rotation are: Δp_θ >> Δp_ρ or Δp_θ > f * Δp_ρ. Here, f is an adjustable factor that can control the disturbance of the control lever.

[0171] If the difference between the second projection increment and the first projection increment is greater than a preset difference, or if the second projection increment is greater than a preset multiple of the first projection increment, the computer equipment determines the conduit position based on the second projection increment and the projection position of the conduit end. For example... Figure 18 The diagram illustrates the circumferential rotation of the catheter's movable end. Ignoring the influence of the first projection increment on determining the catheter position, and considering only the second projection increment, circumferential adhesion of the catheter is achieved. This ensures precise circumferential rotation of the catheter, improving the accuracy of catheter motion control.

[0172] Another typical bending motion in catheter motion control is the straightening motion of the catheter. Ideally, the direction of the control lever position should be opposite to the direction of the catheter tip's projected position to achieve straightening. In actual catheter motion control, operational errors can cause the catheter to rotate during straightening. To prevent rotation during straightening caused by operational errors, this application proposes determining the bending direction of the control lever and the catheter itself before determining the catheter position based on the catheter's motion state and the projected position of its tip. This determines whether the catheter is undergoing straightening. If straightening is confirmed, a preset control lever position is used to determine the catheter position, ensuring accurate straightening. Specifically, the computer acquires the bending direction α of the control lever and the bending direction β of the catheter. α = ANGLE(p(t)), β = ANGLE(q(t)), where ANGLE is a function of the bending direction angle of the metric, which can be atan, atan2, or similar functions. The computer equipment determines the direction of the control rod's bending in the control rod coordinate system for the current cycle's projected position, and obtains the absolute value of the difference between the duct's bending direction and the control rod's bending direction, ||α-β||. If the difference between the absolute value and the straight angle (180°) is less than or equal to a preset threshold, optionally 10°, it indicates that the duct is undergoing a straightening motion. Based on the duct's motion state and the preset control rod projection position q'(t), the duct position is obtained. Figure 19 The diagram shows the straightening motion of the catheter's movable end. If the difference between the absolute value and the horizontal angle is greater than a preset threshold, it indicates that the catheter has not straightened. The catheter position is obtained based on the catheter's motion state and the projected position of the catheter end.

[0173] The computer equipment, based on the catheter position, uses an inverse kinematics algorithm to obtain the motor's angular displacement. The angular displacement by which the computer equipment controls the motor's rotation is the motor angular displacement obtained based on the inverse kinematics algorithm. The rotation of the motor pulls the guide wire fixed to the motor, thereby driving the movement of the catheter's movable end. Figure 20The diagram shows a branching path within the target object. Images are acquired by the image acquisition device, and the current position of the conduit is determined based on the images. The next position of the conduit is determined based on its current position and the preset navigation plan, and the next position of the control lever is determined based on the next position of the conduit.

[0174] The aforementioned catheter motion control method periodically acquires the projected position of the control rod in the control coordinate system within the catheter controller. Based on the projected position of the control rod in the current cycle, the motion state of the catheter is determined. The catheter position is obtained based on the motion state and the projected position of the catheter tip. Since the control rod position in the catheter controller is acquired periodically, the catheter position changes with the control rod position in each cycle, which helps improve the accuracy of catheter motion control. Based on the catheter position, the motor angular displacement is obtained through an inverse kinematics algorithm. This method of obtaining the catheter position based on the control rod position and then calculating the motor angular displacement enables real-time changes in the control rod position, correspondingly altering the motor angular displacement. Because the motor is fixedly connected to the guidewire, the rotation of the motor pulls the guidewire, thereby driving the movement of the catheter's active tip, further improving the accuracy of catheter motion control.

[0175] It should be understood that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0176] Based on the same inventive concept, this application also provides a catheter motion control device for implementing the catheter motion control method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more embodiments of the catheter motion control device provided below can be found in the limitations of the catheter motion control method described above, and will not be repeated here.

[0177] In one embodiment, such as Figure 21 As shown, a catheter motion control device 100 is provided, including: a first position acquisition module 110, a motion state determination module 120, a second position acquisition module 130, a motor angular displacement acquisition module 140, and a control module 150, wherein:

[0178] The first position acquisition module 110 is used to periodically acquire the projected position of the control rod of the duct controller in the control coordinate system.

[0179] The motion state determination module 120 is used to determine the motion state of the duct based on the projection position of the control lever in the current cycle.

[0180] The second position acquisition module 130 is used to determine the projected position of the active end of the catheter in the catheter coordinate system, and obtain the catheter position based on the motion state of the catheter and the projected position of the catheter end.

[0181] The motor angular displacement acquisition module 140 is used to obtain the motor angular displacement based on the position of the guide tube using an inverse kinematics algorithm.

[0182] The control module 150 is used to control the rotation of the motor based on the angular displacement of the motor, so that the guide ribbon drives the active end of the duct to move.

[0183] The aforementioned catheter motion control device periodically acquires the projected position of the control rod in the control coordinate system within the catheter controller. Based on the projected position of the control rod in the current cycle, the motion state of the catheter is determined. The catheter position is obtained based on the motion state and the projected position of the catheter tip. The control rod position in the catheter controller is acquired periodically, and the catheter position changes with the control rod position in each cycle, which helps improve the accuracy of catheter motion control. Based on the catheter position, the motor angular displacement is obtained through an inverse kinematics algorithm. This method of obtaining the catheter position based on the control rod position and then calculating the motor angular displacement enables real-time changes in the control rod position, correspondingly altering the motor angular displacement. Since the motor is fixedly connected to the guidewire, the rotation of the motor pulls the guidewire, thereby driving the movement of the catheter's active tip, further improving the accuracy of catheter motion control.

[0184] In one embodiment, in determining the motion state of the conduit based on the projection position of the control lever in the current cycle, the motion state determination module 120 is further configured to: if the projection position of the current cycle is the center of the coordinate circle of the control lever coordinate system, then determine that the motion state of the conduit is not moving; if the projection position of the current cycle has a component in the horizontal axis of the control lever coordinate system, then determine that the motion state of the conduit is bending towards the horizontal axis of the conduit coordinate system; if the projection position of the current cycle has a component in the vertical axis of the control lever coordinate system, then determine that the motion state of the conduit is bending towards the vertical axis of the conduit coordinate system.

[0185] In one embodiment, in obtaining the catheter position based on the catheter's motion state and the catheter tip projection position, the second position acquisition module 130 is further configured to: acquire the previous cycle projection position of the active end of the control lever in the control lever coordinate system; determine the control lever projection displacement based on the previous cycle projection position and the current cycle projection position; determine the control lever speed based on the control lever projection displacement and cycle duration; determine the catheter tip incremental displacement based on the control lever speed and the catheter control cycle; and obtain the catheter position based on the catheter's motion state, the catheter tip projection position, and the catheter tip incremental displacement.

[0186] In one embodiment, the projection position at the catheter tip is in polar coordinates; the second position acquisition module 130 is further configured to: acquire the catheter bending direction of the catheter tip projection position in the catheter coordinate system; acquire the first projection increment of the catheter tip incremental displacement in the catheter bending direction and the second projection increment in the direction perpendicular to the catheter bending direction; and determine the catheter position based on the catheter's motion state, the first projection increment, the second projection increment, and the catheter tip projection position.

[0187] In one embodiment, the catheter motion control device 100 is further configured to: determine the catheter position based on the catheter's motion state, the second projection increment, and the catheter end projection position when the difference between the second projection increment and the first projection increment is greater than a preset difference, or when the second projection increment is greater than a preset multiple of the first projection increment.

[0188] In one embodiment, before obtaining the catheter position based on the catheter's motion state and the catheter tip projection position, the second position acquisition module 130 is further configured to: determine the control rod bending direction in the control rod coordinate system for the current cycle's projection position; obtain the absolute value of the difference between the catheter bending direction and the control rod bending direction; if the difference between the absolute value and the horizontal angle is less than or equal to a preset threshold, then obtain the catheter position based on the catheter's motion state and the preset control rod projection position; if the difference between the absolute value and the horizontal angle is greater than the preset threshold, then obtain the catheter position based on the catheter's motion state and the catheter tip projection position.

[0189] In one embodiment, an image acquisition device is installed at the movable end of the catheter; after the motor is rotated based on the motor angular displacement so that the guide wire moves the movable end of the catheter, the control module 150 is further configured to: acquire the image acquired by the image acquisition device; determine the current position of the catheter based on the image; determine the next position of the catheter based on the current position of the catheter and the preset navigation plan; and determine the next position of the control lever based on the next position of the catheter.

[0190] Each module in the aforementioned catheter motion control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the operations corresponding to each module.

[0191] In one embodiment, a catheter motion control system is provided, comprising: a catheter, a motor, a guidewire, a catheter controller, an image acquisition device, and a computer device. The catheter includes at least one guidewire; the guidewire is located inside the catheter and extends through it, with the other end connected to the catheter for moving the movable end of the catheter; the motor is fixedly connected to one end of the guidewire; the catheter controller includes a control rod; the image acquisition device is installed at the movable end of the catheter and is used to acquire images; the computer device can be a terminal, and its internal structure diagram can be as shown in the figure. Figure 22 As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computational and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a duct motion control method.

[0192] Those skilled in the art will understand that Figure 22 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0193] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0194] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0195] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0196] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data shall comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0197] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0198] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0199] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A method for controlling catheter movement, characterized in that, The method includes: The projected position of the control rod in the control rod coordinate system in the conduit controller is periodically acquired; The motion state of the conduit is determined based on the projected position of the control lever during the current cycle. Determine the projected position of the active end of the catheter in the catheter coordinate system, and obtain the catheter position based on the motion state of the catheter and the projected position of the catheter end; Based on the position of the duct, the angular displacement of the motor is obtained using an inverse kinematics algorithm; The motor rotation is controlled based on the motor angular displacement, so that the guide ribbon moves the movable end of the catheter. The step of obtaining the catheter position based on the motion state of the catheter and the projected position of the catheter tip includes: determining the motion direction of the catheter based on the motion state of the catheter; adding the projected position of the catheter tip to the incremental displacement of the catheter tip in the motion direction of the catheter to obtain the catheter position; the incremental displacement of the catheter tip is obtained by multiplying the control rod speed by the catheter control cycle.

2. The method according to claim 1, characterized in that, Determining the motion state of the conduit based on the projection position of the control lever during the current cycle includes: If the projection position of the current cycle is the center of the coordinate circle of the control rod coordinate system, then the motion state of the duct is determined to be no movement. If the projection position of the current cycle has a component on the horizontal axis of the control lever coordinate system, then the motion state of the duct is determined to be bending towards the horizontal axis of the duct coordinate system. If the projection position of the current cycle has a component in the vertical axis of the control lever coordinate system, then the motion state of the duct is determined to be bending towards the vertical axis of the duct coordinate system.

3. The method according to claim 1, characterized in that, The step of obtaining the catheter position based on the catheter's motion state and the catheter tip's projected position includes: Obtain the previous cycle projection position of the movable end of the control lever in the control lever coordinate system; The control lever projection displacement is determined based on the projection position of the previous cycle and the projection position of the current cycle. The speed of the control lever is determined based on the projected displacement and period duration of the control lever. The incremental displacement of the catheter tip is determined based on the control lever speed and the catheter control cycle. The catheter position is obtained based on the catheter's motion state, the catheter tip's projected position, and the catheter tip's incremental displacement.

4. The method according to claim 3, characterized in that, The projected position of the catheter tip is in polar coordinates; obtaining the catheter position based on the catheter's motion state, the projected position of the catheter tip, and the incremental displacement of the catheter tip includes: Obtain the catheter bending direction in the catheter coordinate system by the projected position of the catheter tip; Obtain the first projection increment of the incremental displacement of the catheter tip in the direction of catheter bending and the second projection increment in the direction perpendicular to the direction of catheter bending; The catheter position is determined based on the catheter's motion state, the first projection increment, the second projection increment, and the projection position of the catheter tip.

5. The method according to claim 4, characterized in that, The method further includes: If the difference between the second projection increment and the first projection increment is greater than a preset difference, or if the second projection increment is greater than a preset multiple of the first projection increment, the catheter position is determined based on the catheter's motion state, the second projection increment, and the catheter tip projection position.

6. The method according to claim 4, characterized in that, Before obtaining the catheter position based on the catheter's motion state and the catheter tip's projected position, the method further includes: Determine the direction of the control lever's bending in the control lever coordinate system from the projection position of the current cycle; Obtain the absolute value of the difference between the bending direction of the conduit and the bending direction of the control rod; If the difference between the absolute value and the straight angle is less than or equal to a preset threshold, the position of the catheter is obtained based on the motion state of the catheter and the preset control rod projection position. If the difference between the absolute value and the straight angle is greater than the preset threshold, the catheter position is obtained based on the movement state of the catheter and the projection position of the catheter end.

7. The method according to claim 1, characterized in that, An image acquisition device is installed at the movable end of the catheter; after controlling the rotation of the motor based on the angular displacement of the motor so that the guide wire moves the movable end of the catheter, the method further includes: Acquire the image captured by the image acquisition device; Based on the image, determine the current position of the catheter; Based on the current position of the catheter and the preset navigation plan, determine the next position of the catheter; Based on the next position of the catheter, the next position of the control lever is determined.

8. A catheter motion control device, characterized in that, The device comprises: The first position acquisition module is used to periodically acquire the projected position of the control rod in the control rod coordinate system in the conduit controller; The motion state determination module is used to determine the motion state of the duct based on the projection position of the control lever during the current cycle. The second position acquisition module is used to determine the projected position of the active end of the catheter in the catheter coordinate system, and to obtain the catheter position based on the motion state of the catheter and the projected position of the catheter end. The motor angular displacement acquisition module is used to obtain the motor angular displacement based on the position of the guide tube using an inverse kinematics algorithm. The control module is used to control the rotation of the motor based on the angular displacement of the motor, so that the guide ribbon drives the movable end of the conduit to move; The second position acquisition module is further configured to determine the direction of motion of the catheter based on the motion state of the catheter, and add the projected position of the catheter end to the incremental displacement of the catheter end in the direction of motion of the catheter to obtain the position of the catheter; the incremental displacement of the catheter end is obtained by multiplying the speed of the control rod by the control cycle of the catheter.

9. A catheter motion control system, characterized in that, The system includes: A catheter, wherein the catheter includes at least one guidewire; A guidewire, located inside and penetrating the catheter, with the other end of the guidewire connected to the catheter to move the movable end of the catheter; An electric motor, which is fixedly connected to one end of the guide wire; The catheter controller includes a control lever; An image acquisition device is installed at the movable end of the conduit and is used to acquire images. A computer device, including a memory and a processor, wherein the memory stores a computer program, characterized in that the processor executes the computer program to implement the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

11. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

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