Control method and device of interventional surgery system, interventional surgery system and medium

Abstract

The application discloses a control method and device of an interventional operation system, the interventional operation system and a medium, and relates to the technical field of medical instruments. The method comprises the following steps: in response to detecting an imaging pushing instruction, performing a pushing operation on an imaging catheter in a cavity imaging device by controlling an instrument pusher in an interventional operation robot; in the case that the imaging catheter is pushed to a target position, acquiring an imaging pushing distance of the imaging catheter by a mark identifier in the interventional operation robot; and performing a pushing operation on a surgical catheter based on the imaging pushing distance by controlling the instrument pusher and the mark identifier. The embodiment of the application solves the problem that the cavity imaging device and the interventional operation robot in the traditional interventional operation system cannot be jointly controlled, reduces the instrument pushing error of the interventional operation system, reduces the operation difficulty, and thus improves the safety of the interventional treatment process.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a control method, device, interventional surgery system and medium for an interventional surgery system. Background Technology

[0002] Currently, the intracavitary imaging equipment and interventional surgical robot used in interventional treatment are two separate devices. The operation process involves medical staff manually interpreting the image data fed back by the intracavitary imaging equipment to obtain the surgical location of the site of interest, and then operating the interventional surgical robot to push the surgical catheter to the surgical location to perform the surgical operation.

[0003] Since the collaboration between intracavitary imaging equipment and interventional surgical robots relies on medical staff visually observing the image data output by the intracavitary imaging equipment, the entire interventional treatment process places high demands on the surgical operation of medical staff. This inevitably introduces pushing errors into the interventional surgical robot due to visual fatigue or hand movements of medical staff, resulting in greater difficulty in surgical operation, affecting the accuracy of surgical operation, and bringing additional risks to the surgical process. Summary of the Invention

[0004] This invention provides a control method, device, interventional surgical system, and medium for an interventional surgical system, which solves the problem that intracavitary imaging equipment and interventional surgical robots cannot be controlled together in traditional interventional surgical systems, reduces instrument delivery errors in interventional surgical systems, and thus improves the safety of interventional treatment procedures.

[0005] According to an embodiment of the present invention, a control method for an interventional surgical system is provided, the method comprising:

[0006] In response to the detection of an imaging push command, the device pusher in the interventional surgical robot is controlled to push the imaging catheter in the intracavitary imaging device.

[0007] When the imaging catheter is pushed to the target position, the imaging pushing distance of the imaging catheter is obtained by the marker recognition device in the interventional surgical robot;

[0008] By controlling the instrument pusher and the marker recognizer, the surgical catheter is pushed based on the imaging push distance.

[0009] According to another embodiment of the present invention, a control device for an interventional surgical system is provided, the device comprising:

[0010] The imaging catheter push control module is used to push the imaging catheter in the intracavitary imaging device by controlling the instrument pusher in the interventional surgical robot in response to the detection of the imaging push command.

[0011] The imaging push distance acquisition module is used to acquire the imaging push distance of the imaging catheter through a marker recognizer in the interventional surgical robot when the imaging catheter is pushed to the target position.

[0012] The surgical catheter push control module is used to perform a push operation on the surgical catheter based on the imaging push distance by controlling the instrument pusher and the marker recognition device.

[0013] According to another embodiment of the present invention, an interventional surgical system is provided, the interventional surgical system comprising: an interventional surgical robot, an intracavitary imaging device, and a control device, wherein the interventional surgical robot includes an instrument pusher and a marker identifier, and the intracavitary imaging device includes an imaging catheter;

[0014] The instrument pusher is used to push the imaging catheter and the surgical catheter; the marker recognizer is used to obtain the pushing distance of the imaging catheter and the surgical catheter.

[0015] The imaging conduit is used to perform imaging operations;

[0016] The control device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the control method of the interventional surgical system according to any embodiment of the present invention.

[0017] According to another embodiment of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions, the computer instructions being configured to cause a processor to execute and implement the control method of the interventional surgical system according to any embodiment of the present invention.

[0018] The technical solution of this invention, in response to the detection of an imaging push command, controls the instrument pusher in the interventional surgical robot to perform a push operation on the imaging catheter in the intracavitary imaging device. When the imaging catheter is pushed to the target position, the imaging push distance of the imaging catheter is obtained through the marker recognition device in the interventional surgical robot. By controlling the instrument pusher and the marker recognition device, the surgical catheter is pushed based on the imaging push distance. This invention provides a fusion control method for intracavitary imaging devices and interventional surgical robots, solving the problem that intracavitary imaging devices and interventional surgical robots cannot be jointly controlled in traditional interventional surgical systems. It reduces the instrument push error of the interventional surgical system, reduces the difficulty of surgical operation, and thus improves the safety of the interventional treatment process.

[0019] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 A flowchart illustrating a control method for an interventional surgical system according to an embodiment of the present invention;

[0022] Figure 2 This is a schematic diagram illustrating the acquisition of a current catheter marker according to an embodiment of the present invention;

[0023] Figure 3 A flowchart illustrating a control method for another interventional surgical system provided in one embodiment of the present invention;

[0024] Figure 4 This is a schematic diagram of the structure of a control device for an interventional surgical system according to an embodiment of the present invention;

[0025] Figure 5 This is a schematic diagram of the structure of an interventional surgical system provided in one embodiment of the present invention;

[0026] Figure 6 This is a structural diagram of a specific example of an interventional surgical system provided in one embodiment of the present invention;

[0027] Figure 7 This is a schematic diagram of the structure of a control device provided in one embodiment of the present invention.

[0028] Figure label:

[0029] Interventional surgery system-10, interventional surgery robot-1, instrument pusher-11, catheter pusher-111, guidewire pusher-112, marker identifier-12, interventional surgery push box-13, Y valve fixator-14, outlet end-141, first inlet end-142, second inlet end-143, guiding catheter-15, intracavitary imaging equipment-2, imaging catheter-21, imaging controller-22, control device-3, processor-31, ROM-32, RAM-33, bus-34, I / O interface-35, input unit-36, output unit-37, storage unit-38, communication unit-39, working guidewire-4. Detailed Implementation

[0030] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0031] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0032] Figure 1 This is a flowchart illustrating a control method for an interventional surgical system according to an embodiment of the present invention. This embodiment is applicable to situations where the interventional surgical system used in interventional treatment is operated and controlled. The method can be executed by a control device of the interventional surgical system, which can be implemented in hardware and / or software and can be configured within the interventional surgical system. Figure 1 As shown, the method includes:

[0033] S110, In response to the detection of an imaging push command, the device pusher in the interventional surgical robot is controlled to perform a push operation on the imaging catheter in the intracavitary imaging device.

[0034] The interventional surgical system used in this embodiment includes at least an interventional surgical robot, an intracavitary imaging device, and a control device. The interventional surgical robot includes an instrument pusher and a marker recognizer, the marker recognizer being a marker collector. The intracavitary imaging device includes an imaging catheter, on which multiple catheter markers are provided. The control device is used to execute the operations in the control method of the interventional surgical system provided in this embodiment.

[0035] Specifically, the imaging push command is used to characterize the control command that triggers the instrument pusher in the interventional surgical robot to perform a pushing operation on the imaging catheter. In an optional embodiment, the imaging push command is generated in response to detecting an imaging trigger operation input by the user based on the visual interface; and / or, in response to detecting a trigger operation of the pushing component on the interventional surgical robot. The method for generating the imaging push command is not limited here, and can be customized according to actual needs.

[0036] In one alternative embodiment, the push operation includes a rotation operation, a forward operation, and a retraction operation.

[0037] S120. When the imaging catheter is pushed to the target position, the imaging pushing distance of the imaging catheter is obtained by the marker recognition device in the interventional surgical robot.

[0038] In an optional embodiment, the method further includes: in response to detecting a positioning trigger operation by a user based on a visual interface, setting the current position of the imaging catheter as the target position; and / or, in response to detecting a trigger operation by a positioning component on the interventional surgical robot, setting the current position of the imaging catheter as the target position. The form of the trigger operation for the target position is not limited here and can be customized according to actual needs.

[0039] In another optional embodiment, the method further includes: obtaining the image similarity between a preset intracavitary image and a real-time intracavitary image output by an intracavitary imaging device; and when the image similarity reaches a preset similarity threshold, using the current position corresponding to the real-time intracavitary image as the target position of the imaging catheter.

[0040] Specifically, the pre-set intracavitary image is used to characterize the image of the pre-acquired region of interest, which can be used to interpret and locate the region of interest.

[0041] For example, the similarity algorithms used for image similarity include, but are not limited to, hash algorithms, histogram algorithms, cosine similarity algorithms, and SSIM algorithms. Hash algorithms include, but are not limited to, average hash algorithms, difference hash algorithms, and perceptual hash algorithms.

[0042] For example, the preset similarity threshold can be 90% or 95%. There are no restrictions on the similarity algorithm or the preset similarity threshold. The specific settings can be customized according to actual needs.

[0043] The advantage of this setup is that it enables automatic positioning of the target location, further simplifies the steps requiring manual intervention during interventional treatment, and further reduces instrument delivery errors.

[0044] As an optional embodiment, the imaging push distance of the imaging catheter is obtained by using a marker recognizer in the interventional surgical robot, including: collecting the current catheter marker on the imaging catheter by controlling the marker recognizer in the interventional surgical robot; and determining the imaging push distance of the imaging catheter based on the marker position information corresponding to the current catheter marker.

[0045] In this embodiment, the tag recognizer is a tag collector. Figure 2 This is a schematic diagram illustrating the acquisition of current catheter markers according to an embodiment of the present invention. Specifically, Figure 2 The image above shows a type of duct marker. The circle represents the field of view of the marker collector, and the arrow inside the circle indicates the current duct marker within the selected field of view. Figure 2 The image below shows another type of catheter marking. Specifically, each catheter marking on the imaging catheter represents different marking location information.

[0046] The labeling content for multiple catheters is not limited here; it can be customized according to actual needs.

[0047] S230, By controlling the instrument pusher and the marker recognition device, the surgical catheter is pushed based on the imaging push distance.

[0048] In one optional embodiment, the triggering condition for performing a pushing operation on the surgical catheter includes responding to the detection of a surgical pushing command, wherein the surgical pushing command is used to characterize a control command that triggers the instrument pusher in the interventional surgical robot to perform a pushing operation on the surgical catheter. In one optional embodiment, a surgical pushing command is generated in response to the detection of a surgical triggering operation input by the user based on a visual interface; and / or, in response to the detection of a triggering operation of the pushing component on the interventional surgical robot; and / or, in response to the detection of the imaging catheter exiting the instrument pusher, a surgical pushing command is generated. The method for generating the surgical pushing command is not limited here and can be customized according to actual needs.

[0049] For example, the visualization interface includes imaging controls for the imaging catheter and surgical controls for the surgical catheter. An imaging trigger operation triggers the corresponding imaging control, and a surgical trigger operation triggers the corresponding surgical control. Alternatively, the visualization interface includes a trigger control. When a trigger operation of the trigger control is detected for the first time, the trigger operation is used as an imaging trigger operation. When a trigger operation of the trigger control is detected for the second time, the trigger operation is used as a surgical trigger operation.

[0050] In another alternative embodiment, when the instrument pusher in the interventional surgical robot includes two catheter pushers, the second catheter pusher is directly controlled to push the surgical catheter after the first catheter pusher pushes the imaging catheter to the target position. In this embodiment, it is not necessary to detect the surgical pushing command.

[0051] In one optional embodiment, a pushing operation is performed on the surgical catheter based on the imaging pushing distance by controlling the instrument pusher and the marker recognition device, including: during the process of controlling the instrument pusher to push the surgical catheter, obtaining the real-time pushing distance of the surgical catheter through the marker recognition device; continuing to perform the pushing operation on the surgical catheter until the real-time pushing distance reaches the imaging pushing distance.

[0052] In this embodiment, the surgical catheter is provided with multiple catheter markers. The real-time pushing distance of the surgical catheter is obtained through a marker recognizer, including: by controlling the marker recognizer to collect real-time catheter markers on the surgical catheter based on a preset collection period, and determining the real-time pushing distance of the surgical catheter based on the marker position information corresponding to the real-time catheter markers.

[0053] For example, the preset acquisition period can be 1 second. There is no limit to the preset acquisition period here. It can be customized according to actual needs.

[0054] Based on the above embodiments, optionally, after performing a pushing operation on the surgical catheter based on the imaging pushing distance, the method further includes: in response to detecting the imaging pushing command again, performing a pushing operation on the imaging catheter based on the imaging pushing distance by controlling the instrument pusher and the marker recognizer.

[0055] Specifically, during the process of the control device pusher pushing the imaging catheter again, the control marker recognizer collects real-time catheter markers on the imaging catheter based on a preset acquisition cycle, and determines the real-time pushing distance of the imaging catheter based on the marker position information corresponding to the real-time catheter markers; the pushing operation of the imaging catheter continues until the real-time pushing distance reaches the imaging pushing distance.

[0056] The advantage of this setup is that, after the surgical catheter reaches the target location and the surgical procedure is performed, it may be necessary to push the imaging catheter back to the target location to check the effectiveness of the surgical procedure. This embodiment reduces imaging push errors during the secondary pushing of the imaging catheter by performing the pushing operation based on the imaging push distance, further improving the safety of the interventional treatment process.

[0057] The technical solution of this embodiment, in response to the detection of an imaging push command, controls the instrument pusher in the interventional surgical robot to perform a push operation on the imaging catheter in the intracavitary imaging device. When the imaging catheter is pushed to the target position, the imaging push distance of the imaging catheter is obtained through the marker recognition device in the interventional surgical robot. By controlling the instrument pusher and the marker recognition device, the surgical catheter is pushed based on the imaging push distance. This embodiment of the invention provides a fusion control method for intracavitary imaging devices and interventional surgical robots, which solves the problem that intracavitary imaging devices and interventional surgical robots cannot be jointly controlled in traditional interventional surgical systems, reduces the instrument push error of the interventional surgical system, reduces the difficulty of surgical operation, and thus improves the safety of the interventional treatment process.

[0058] Figure 3 This is a flowchart illustrating another control method for an interventional surgical system provided in one embodiment of the present invention. This embodiment further refines the method for obtaining the imaging push distance in the above embodiment. For example... Figure 3 As shown, the method includes:

[0059] S210, In response to the detection of an imaging push command, the device pusher in the interventional surgical robot is controlled to perform a push operation on the imaging catheter in the intracavitary imaging device.

[0060] In this embodiment, S210 and Figure 1 The S110 shown is the same or similar, and will not be described again in this embodiment.

[0061] S220. During the process of pushing the imaging catheter by the control device pusher, in response to the detection of the catheter mark on the imaging catheter collected by the marker collector, the encoder is controlled to monitor the coded pushing distance of the device pusher.

[0062] The interventional surgical system used in this embodiment includes at least an interventional surgical robot, an intracavitary imaging device, and a control device. The interventional surgical robot includes an instrument pusher and a marker recognizer. The marker recognizer includes a marker collector and an encoder, with the encoder installed inside the instrument pusher. The intracavitary imaging device includes an imaging catheter, on which a catheter marker is provided. The control device is used to execute the operations in the control method of the interventional surgical system provided in this embodiment.

[0063] For example, the marking position information corresponding to the catheter marking is 5cm. Here, the marking position information corresponding to the catheter marking is not limited, and can be customized according to actual needs.

[0064] Specifically, the encoder calculates the coded pushing distance of the imaging catheter and surgical catheter by monitoring the circumference of the gears and the number of gear rotations of the catheter pusher.

[0065] S230. When the imaging catheter is pushed to the target position, obtain the current coding push distance monitored by the encoder in the marker recognizer corresponding to the current acquisition time.

[0066] Specifically, the current acquisition time is used to characterize the acquisition time when the imaging catheter is pushed to the target position. For example, assuming the circumference is 1cm and the gear rotates 10 times at the current acquisition time, then the current coded pushing distance is 10cm.

[0067] S240. Based on the current coded push distance and the marker position information corresponding to the catheter marker, determine the imaging push distance of the imaging catheter.

[0068] Specifically, the imaging push distance is equal to the sum of the current coded push distance and the marker position information. Taking the example above, if the current coded push distance is 10cm and the marker position information corresponding to the catheter marker is 5cm, then the imaging push distance is 15cm.

[0069] S250: By controlling the instrument pusher and the marker recognition device, the surgical catheter is pushed based on the imaging push distance.

[0070] In one optional embodiment, a pushing operation is performed on the surgical catheter based on the imaging pushing distance by controlling the instrument pusher and the marker recognition device, including: during the process of controlling the instrument pusher to push the surgical catheter, obtaining the real-time pushing distance of the surgical catheter through the marker recognition device; continuing to perform the pushing operation on the surgical catheter until the real-time pushing distance reaches the imaging pushing distance.

[0071] In one optional embodiment, the surgical catheter is provided with multiple catheter markers. The real-time pushing distance of the surgical catheter is obtained by a marker recognizer, including: by controlling a marker collector to collect real-time catheter markers on the surgical catheter based on a preset collection period, and determining the real-time pushing distance of the surgical catheter based on the marker position information corresponding to the real-time catheter markers.

[0072] In another optional embodiment, a catheter marker is provided on the surgical catheter. The real-time pushing distance of the surgical catheter is obtained through a marker recognizer, including: in response to detecting that the marker collector has collected the catheter marker on the surgical catheter, the encoder is controlled to monitor the coded pushing distance of the instrument pusher; and the real-time pushing distance of the surgical catheter is determined based on the coded pushing distance and the marker position information corresponding to the catheter marker.

[0073] Based on the above embodiments, optionally, in the embodiment where the control device pusher pushes the imaging catheter again, the pushing process is the same as or similar to the pushing process of the surgical catheter with a catheter marker, and will not be described again here.

[0074] Since both imaging catheters and surgical catheters need to be inserted into the lumen, setting multiple catheter markers on them may be limited by instrument manufacturing processes or surgical safety. The technical solution of this embodiment solves the problem of manufacturing limitations associated with setting multiple catheter markers by incorporating a marker recognizer, including a marker collector and an encoder. The encoder is installed inside the instrument pusher, and the imaging catheter has only one catheter marker. This reduces instrument pushing errors in the interventional surgical system and simplifies catheter manufacturing processes while ensuring the safety of interventional treatment.

[0075] The following are embodiments of the control device for the interventional surgical system provided in this invention. This device and the control method for the interventional surgical system in the above embodiments belong to the same inventive concept. For details not described in detail in the embodiments of the control device for the interventional surgical system, please refer to the content of the control method for the interventional surgical system in the above embodiments.

[0076] Figure 4 This is a schematic diagram of the structure of a control device for an interventional surgical system according to an embodiment of the present invention. Figure 4 As shown, the device includes: an imaging catheter push control module 310, an imaging push distance acquisition module 320, and a surgical catheter push control module 330.

[0077] Among them, the imaging catheter push control module 310 is used to respond to the detection of an imaging push command by controlling the instrument pusher in the interventional surgical robot to perform a push operation on the imaging catheter in the intracavitary imaging device.

[0078] The imaging push distance acquisition module 320 is used to acquire the imaging push distance of the imaging catheter by means of a marker recognizer in the interventional surgical robot when the imaging catheter is pushed to the target position.

[0079] The surgical catheter push control module 330 is used to perform push operations on the surgical catheter based on the imaging push distance by controlling the instrument pusher and the marker recognizer.

[0080] The technical solution of this embodiment, in response to the detection of an imaging push command, controls the instrument pusher in the interventional surgical robot to perform a push operation on the imaging catheter in the intracavitary imaging device. When the imaging catheter is pushed to the target position, the imaging push distance of the imaging catheter is obtained through the marker recognition device in the interventional surgical robot. By controlling the instrument pusher and the marker recognition device, the surgical catheter is pushed based on the imaging push distance. This embodiment of the invention provides a fusion control method for intracavitary imaging devices and interventional surgical robots, which solves the problem that intracavitary imaging devices and interventional surgical robots cannot be jointly controlled in traditional interventional surgical systems, reduces the instrument push error of the interventional surgical system, reduces the difficulty of surgical operation, and thus improves the safety of the interventional treatment process.

[0081] In an optional embodiment, when multiple catheter markers are provided on the imaging catheter, the marker recognizer is a marker collector, and the imaging push distance acquisition module 320 includes:

[0082] The first imaging push distance determination unit is used to acquire the current catheter marker on the imaging catheter by controlling the marker recognizer in the interventional surgical robot;

[0083] Based on the marker location information corresponding to the current catheter marker, the imaging push distance of the imaging catheter is determined.

[0084] In an optional embodiment, when a catheter marker is provided on the imaging catheter, the marker recognizer includes a marker collector and an encoder, the encoder being installed inside the instrument pusher, and the device further includes:

[0085] The coding push distance monitoring module is used to monitor the coding push distance of the device pusher in response to the detection of catheter markings collected by the marker collector on the imaging catheter during the process of pushing the imaging catheter by the control device pusher.

[0086] The imaging push distance acquisition module 320 includes:

[0087] The first imaging push distance determination unit is used to obtain the current encoding push distance detected by the encoder in the marker recognizer, which corresponds to the current acquisition time;

[0088] Based on the current coded push distance and the marker position information corresponding to the catheter marker, the imaging push distance of the imaging catheter is determined.

[0089] In an optional embodiment, the surgical catheter delivery control module 330 is specifically used for:

[0090] During the process of pushing the surgical catheter by the control instrument pusher, the real-time pushing distance of the surgical catheter is obtained through the marker recognition device;

[0091] Continue pushing the surgical catheter until the real-time pushing distance reaches the imaging pushing distance.

[0092] In an optional embodiment, the device further includes:

[0093] The target location determination module is used to obtain the image similarity between the preset intracavitary image and the real-time intracavitary image output by the intracavitary imaging device;

[0094] When the image similarity reaches a preset similarity threshold, the current position corresponding to the real-time intracavitary image is used as the target position of the imaging catheter.

[0095] In an optional embodiment, the device further includes:

[0096] The imaging catheter secondary push module is used to push the surgical catheter based on the imaging push distance after the surgical catheter is pushed by the control instrument pusher and the marker recognition device, in response to the detection of the imaging push command again, to push the imaging catheter based on the imaging push distance by controlling the control instrument pusher and the marker recognition device.

[0097] The control device for the interventional surgery system provided in this embodiment of the invention can execute the control method for the interventional surgery system provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0098] Figure 5 This is a schematic diagram of an interventional surgical system according to an embodiment of the present invention. The interventional surgical system in this embodiment can be applied to the control method and device of the interventional surgical system provided in the following embodiments of the present invention.

[0099] like Figure 5 As shown, the interventional surgery system 40 includes: an interventional surgery robot 1, an intracavitary imaging device 2, and a control device 3. The interventional surgery robot 1 includes an instrument pusher 11 and a marker recognition device 12. The intracavitary imaging device 2 includes an imaging catheter 21. The instrument pusher 11 is used to push the imaging catheter 21 and the surgical catheter. The marker recognition device 12 is used to obtain the pushing distance of the imaging catheter 21 and the surgical catheter. The imaging catheter 21 is used to perform imaging operations. The control device 3 is used to execute the control method of the interventional surgery system provided in this embodiment of the invention.

[0100] Figure 6 This is a structural diagram of a specific example of an interventional surgical system provided in one embodiment of the present invention. Figure 6 The following example illustrates the scenario where the interventional surgical robot 1 pushes the imaging catheter 21.

[0101] Specifically, the instrument pusher 11 is also used to push the working guidewire 4. In an optional embodiment, the instrument pusher 11 includes a catheter pusher 111 and a guidewire pusher 112, with the guidewire pusher 112 located at the rear end of the interventional surgical robot 1 and the catheter pusher 111 located at the front end of the guidewire pusher 112. The catheter pusher 111 is used to push the imaging catheter 21 and the surgical catheter, while the guidewire pusher 112 is used to push the working guidewire 4. Exemplarily, the pushing operation includes rotation, forward movement, and retraction.

[0102] For example, the catheter pusher 111 is composed of an active catheter pushing wheel group, a passive catheter pushing wheel group and a rotating component. The active catheter pushing wheel group and the passive catheter pushing wheel group are used to jointly control the forward and backward movement of the imaging catheter 21 or the surgical catheter. The rotating component can make the active catheter pushing wheel group and the passive catheter pushing wheel group rotate around a rotation axis to control the rotation of the imaging catheter 21 or the surgical catheter.

[0103] For example, the guide wire pusher 112 is composed of a guide wire active push wheel group, a guide wire passive push wheel group and a rotating component. The guide wire active push wheel group and the guide wire passive push wheel group are used to jointly control the forward and retraction of the working guide wire 4. The rotating component can make the guide wire active push wheel group and the guide wire passive push wheel group rotate around the rotation axis to control the rotation of the working guide wire 4.

[0104] The hardware structure of the instrument pusher 11 is not limited here. It is understood that any instrument pusher 11 that can realize rotation, forward and retraction operations is within the protection scope of this application.

[0105] For example, surgical catheters include, but are not limited to, balloon catheters and stent catheters. Balloon catheters are used to characterize interventional catheters carrying balloons, and balloons are used to dilate narrowed lesions and improve blood flow. In some practical applications, the system uses rapid-exchange balloons, which are mostly monorail balloons and are currently the most widely used balloon type in percutaneous coronary intervention (PCI). Only the proximal 15-30cm of the rapid-exchange balloon can slide coaxially along the working guidewire 4, and it can be used with a standard working guidewire 4 of 180-195cm in length, allowing for easy operation by a single operator. Rapid-exchange balloon types include, but are not limited to: high-compliance balloons, semi-compliance balloons, low-compliance balloons, and non-compliance balloons; or pre-dilation balloons, stent balloons, and post-dilation balloons; or special types of balloons, such as cutting balloons, shockwave balloons, and drug-eluting balloons.

[0106] Among them, stent catheters can be used to characterize interventional catheters carrying stents. After the blood vessel is expanded and reshaped by a balloon catheter, a stent can be inserted into the stenotic or occluded segment of the vessel to further support the vessel, reduce elastic recoil and reshaping, and thus further maintain unobstructed blood flow. Currently, stents are widely used in interventional treatment of coronary artery, intracranial artery, carotid artery, renal artery, and femoral artery diseases. Correspondingly, stent types are mainly classified as coronary stents, intracranial stents, and peripheral vascular stents.

[0107] The working guidewire 4 can travel within the blood vessel. In interventional treatment, the working guidewire 4 plays a role in following the puncture needle into the blood vessel, reaching the site of interest, passing through the site of interest, and delivering interventional instruments. The success of PCI treatment depends to a certain extent on whether the working guidewire 4 can successfully pass through the site of interest. Both the imaging catheter 21 and the surgical catheter use the working guidewire 4 as a working track to pass through the guiding catheter 15 and reach the target location.

[0108] In an optional embodiment, the interventional surgical robot 1 further includes an interventional surgical push box 13, a Y-valve fixator 14, and a guiding catheter 15. The interventional surgical push box 13 is provided with a box inlet and a box outlet. The instrument pusher 11 is installed inside the interventional surgical push box 13 near the box inlet. The Y-valve fixator 14 is installed at the box outlet of the interventional surgical push box 13. The outlet end 141 and the first inlet end 142 of the Y-valve fixator 14 are located outside the interventional surgical push box 13, and the second inlet end 143 of the Y-valve fixator 14 is located inside the interventional surgical push box 13. The outlet end 141 and the second inlet end 143 of the Y-valve fixator 14 are on the same axis as the guide wire pusher 112 in the instrument pusher 11. One end of the guiding catheter 15 is fixedly connected to the outlet end 141 of the Y-valve fixator 14.

[0109] The Y-valve fixator 14 is a hollow structure. For example, the Y-valve fixator 14 is mainly composed of Y-type connectors, guidewire torque devices, guidewire insertion cannulas, and protective sleeves. The channel formed by the second inlet end 143 and the outlet end 141 on the Y-valve fixator 14 is used to guide, place, and lock the imaging catheter 21 and the surgical catheter. The first inlet end 142 on the Y-valve fixator 14 is used to place interventional substances, such as saline, contrast agents, drugs, and substances required during interventional treatment.

[0110] The guiding catheter 15 has main functions including, but not limited to, delivering the imaging catheter 21, surgical catheter, and interventional materials, as well as monitoring coronary artery pressure. In some practical applications, the guiding catheter 15 is an angiography catheter. Angiography catheters typically have suitable rigidity, elasticity, flexibility, and torsional strength, good shape memory, smooth walls, and high angiography performance. In some practical scenarios, angiography catheters also need to have good X-ray transmission performance.

[0111] In one embodiment, the imaging catheter 21 comprises a catheter assembly and an imaging probe. The catheter assembly carries the imaging probe to deliver it to a target location, and the imaging probe performs imaging operations. In an optional embodiment, the intracavitary imaging device 2 further includes an imaging controller 22, which controls the imaging probe in the imaging catheter 21 to perform imaging signal transmission and reception operations. Exemplarily, the imaging controller 22 is mounted on the same base as the interventional surgical delivery box 13, or the imaging controller 22 is fixedly mounted on the outside of the interventional surgical delivery box 13 (e.g., [missing information]). Figure 6 (As shown).

[0112] In another alternative embodiment, the control device 3 is also used to control the imaging probe in the imaging conduit 21 to perform imaging signal transmission and imaging signal reception operations.

[0113] In an optional embodiment, when multiple catheter markers are provided on the imaging catheter 21, the marker recognizer 12 is a marker collector, and the catheter markers represent location information; wherein, the marker collector is used to detect catheter markers on the imaging catheter 21 and the surgical catheter.

[0114] For example, the tag collector may include, but is not limited to, a camera or a tag acquisition device. When the tag collector is a tag acquisition device, the type of catheter tag is an RFID (Radio Frequency Identification) tag or a UDI (Unique Device Identification) tag. There is no limitation on the type of tag collector and catheter tag here, and the specific settings can be customized according to actual needs.

[0115] In another alternative embodiment, when a catheter mark is provided on the imaging catheter 21, the mark recognizer 12 includes a mark collector and an encoder, the encoder being installed inside the instrument pusher 11, and the catheter mark representing position information; wherein, the mark collector is used to detect the catheter mark on the imaging catheter 21 and the surgical catheter; the encoder is used to monitor the coded pushing distance of the instrument pusher 11.

[0116] In an optional embodiment, when the marker identifier 12 is a marker collector, multiple catheter markers are respectively provided on the imaging catheter 21 and the surgical catheter. When the marker identifier 12 includes a marker collector and an encoder, the catheter markers on the imaging catheter 21 and the surgical catheter can be the same or different. Specifically, one or more catheter markers are provided on the imaging catheter 21, and one or more catheter markers are provided on the surgical catheter.

[0117] Specifically, the coded push distance can be used to characterize the push distance of the catheter markers on the imaging catheter 21 and the surgical catheter after passing the marker collector. For example, the encoder calculates the coded push distance of the imaging catheter 21 and the surgical catheter by monitoring the circumference of the gear and the number of gear rotations of the catheter pusher 111.

[0118] In an alternative embodiment, the marker collector is installed at either the catheter input or output end of the catheter pusher 111. For example... Figure 6 As shown, the marker collector is installed at the catheter input end of the catheter pusher 111. In another alternative embodiment, the marker collector is installed at the bottom of the interventional surgical push box 13 located at the front end of the catheter pusher 111, or at the bottom of the interventional surgical push box 13 located at the rear end of the catheter pusher 111, or at the second inlet end 143 of the Y valve retainer 14.

[0119] Figure 7 This is a schematic diagram of a control device provided according to one embodiment of the present invention. The control device 3 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Electronic devices can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0120] like Figure 7As shown, the control device 3 includes at least one processor 31 and a memory, such as a read-only memory (ROM) 32 or a random access memory (RAM) 33, communicatively connected to the at least one processor 31. The memory stores computer programs executable by the at least one processor. The processor 31 can perform various appropriate actions and processes based on the computer program stored in the ROM 32 or loaded from storage unit 38 into the RAM 33. The RAM 31 can also store various programs and data required for the operation of the control device 3. The processor 31, ROM 32, and RAM 31 are interconnected via a bus 34. An input / output (I / O) interface 35 is also connected to the bus 34.

[0121] Multiple components in the control device 3 are connected to the I / O interface 35, including: an input unit 36, such as a keyboard, mouse, etc.; an output unit 37, such as various types of displays, speakers, etc.; a storage unit 38, such as a disk, optical disk, etc.; and a communication unit 39, such as a network card, modem, wireless transceiver, etc. The communication unit 39 allows the control device 3 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0122] Processor 31 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 31 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 31 performs the various methods and processes described above, such as the control method of the interventional surgical system provided in the above embodiments.

[0123] In some embodiments, the control method for the interventional surgical system provided in the above embodiments can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as storage unit 38. In some embodiments, part or all of the computer program can be loaded and / or installed on the control device 3 via ROM 32 and / or communication unit 39. When the computer program is loaded into RAM 31 and executed by processor 31, one or more steps of the control method for the interventional surgical system described above can be performed. Alternatively, in other embodiments, processor 31 can be configured to perform the control method for the interventional surgical system by any other suitable means (e.g., by means of firmware).

[0124] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0125] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0126] The technical solution of this embodiment solves the problem that the intracavitary imaging equipment and the interventional surgical robot cannot be jointly controlled in traditional interventional surgical systems by setting a marker recognizer on the interventional surgical robot to collect the pushing distance of the imaging catheter and the surgical catheter. This reduces the instrument pushing error of the interventional surgical system, reduces the difficulty of surgical operation, and thus improves the safety of the interventional treatment process.

[0127] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0128] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0129] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0130] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0131] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0132] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A control device for an interventional surgical system, characterized in that, include: The imaging catheter push control module is used to push the imaging catheter in the intracavitary imaging device by controlling the instrument pusher in the interventional surgical robot in response to the detection of the imaging push command. The imaging push distance acquisition module is used to acquire the imaging push distance of the imaging catheter through a marker recognizer in the interventional surgical robot when the imaging catheter is pushed to the target position. The surgical catheter push control module is used to perform a push operation on the surgical catheter based on the imaging push distance by controlling the instrument pusher and the marker recognition device. The surgical catheter pushing control module is also used to obtain the real-time pushing distance of the surgical catheter through a marker identifier during the process of pushing the surgical catheter by the control instrument pusher; and to continue to perform the pushing operation on the surgical catheter until the real-time pushing distance reaches the imaging pushing distance.

2. An interventional surgical system, characterized in that, include: The interventional surgical robot, the intracavitary imaging device, and the control device are provided. The interventional surgical robot includes an instrument pusher and a marker recognizer. The intracavitary imaging device includes an imaging catheter. The marker identifier is used to acquire the imaging push distance of the imaging catheter and the real-time push distance of the surgical catheter; the instrument pusher is used to perform a push operation on the imaging catheter and the surgical catheter until the real-time push distance reaches the imaging push distance. The imaging conduit is used to perform imaging operations; The control device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform a control method for the interventional surgical system.

3. The system according to claim 2, characterized in that, When the imaging catheter is equipped with multiple catheter markers, the marker recognizer is a marker collector, and the catheter markers represent location information; The marker collector is used to collect catheter markers on the imaging catheter and the surgical catheter.

4. The system according to claim 2, characterized in that, When a catheter marker is provided on the imaging catheter, the marker recognizer includes a marker collector and an encoder, the encoder being installed inside the instrument pusher, and the catheter marker representing position information; The marker collector is used to collect catheter markers on the imaging catheter and the surgical catheter; The encoder is used to monitor the coded push distance of the device pusher.

5. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing a processor to execute a control method for an interventional surgical system. The interventional surgical system includes an interventional surgical robot, an intracavitary imaging device, and a control device. The method is executed by the control device and includes: In response to the detection of an imaging push command, the device pusher in the interventional surgical robot is controlled to push the imaging catheter in the intracavitary imaging device. When the imaging catheter is pushed to the target position, the imaging pushing distance of the imaging catheter is obtained by the marker recognition device in the interventional surgical robot; By controlling the instrument pusher and the marker recognition device, a pushing operation is performed on the surgical catheter based on the imaging pushing distance; The step of controlling the instrument pusher and the marker recognition device to perform a pushing operation on the surgical catheter based on the imaging pushing distance includes: During the process of controlling the instrument pusher to push the surgical catheter, the real-time pushing distance of the surgical catheter is obtained through the marker recognition device; Continue pushing the surgical catheter until the real-time pushing distance reaches the imaging pushing distance.

6. The storage medium according to claim 5, characterized in that, When multiple catheter markers are provided on the imaging catheter, the marker recognizer is a marker collector. The step of obtaining the imaging catheter's imaging push distance through the marker recognizer in the interventional surgical robot includes: The current catheter marker on the imaging catheter is acquired by controlling the marker recognizer in the interventional surgical robot. Based on the marker location information corresponding to the current catheter marker, the imaging push distance of the imaging catheter is determined.

7. The storage medium according to claim 5, characterized in that, When a catheter marker is provided on the imaging catheter, the marker recognizer includes a marker collector and an encoder, the encoder being installed inside the instrument pusher, and further includes: During the process of controlling the instrument pusher to push the imaging catheter, in response to detecting the catheter mark collected by the marker collector on the imaging catheter, the encoder is controlled to monitor the coded pushing distance of the instrument pusher; The step of obtaining the imaging push distance of the imaging catheter through the marker recognition device in the interventional surgical robot includes: Obtain the current code push distance detected by the encoder in the marker recognizer, corresponding to the current acquisition time; Based on the current coded push distance and the marker position information corresponding to the catheter marker, the imaging push distance of the imaging catheter is determined.

8. The storage medium according to claim 5, characterized in that, Also includes: Obtain the image similarity between the preset intracavitary image and the real-time intracavitary image output by the intracavitary imaging device; When the image similarity reaches a preset similarity threshold, the current position corresponding to the real-time intracavitary image is taken as the target position of the imaging catheter.

9. The storage medium according to claim 5, characterized in that, After performing a pushing operation on the surgical catheter based on the imaging pushing distance by controlling the instrument pusher and the marker recognition device, the method further includes: In response to the detection of an imaging push command again, the imaging catheter is pushed based on the imaging push distance by controlling the instrument pusher and the marker recognizer.

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