A medical navigation control method, device, equipment and storage medium

Abstract

Embodiments of the present application provide a medical navigation control method, device and equipment, and a storage medium. In the method, motor parameters and movement parameters are obtained in a current control period; force information of a catheter is estimated according to the motor parameters and the movement parameters; a collision probability is predicted according to an image of the catheter in a cavity; force feedback information of the current control period is generated according to different force information and the collision probability; an estimation error of the current control period is calculated according to the force feedback information of the current control period and a previous control period, and the estimation error of the previous control period; and when a condition is met, a catheter handle can be controlled to output a perceptible feedback signal according to the force feedback information of the current control period. In this way, a force feedback sensor is not required, force feedback information can be accurately determined based on multiple factors, a more accurate feedback signal is output to an operator, and medical navigation is more accurately performed.

Description

A medical navigation control method, device, equipment and storage medium Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a medical navigation control method, device, equipment and storage medium. Background Technology

[0002] Endoscopy is widely used in interventional treatments across various departments. For example, in clinical practice for pulmonary diagnosis and treatment, a three-dimensional model of the patient's lungs is typically created based on imaging data. Doctors then use this model to guide the endoscopic catheter through the lung cavities for diagnosis and treatment. During this process, doctors mostly determine the catheter's position based on real-time images to avoid tissue damage caused by collisions. However, this method relies on visual observation and has low accuracy. Therefore, a force feedback mechanism is needed to promptly alert doctors when the catheter collides with tissues, enabling precise medical navigation.

[0003] Currently, one technical approach to force feedback mechanisms in the medical field involves placing a force feedback sensor at the tip of an endoscopic catheter to collect force data and then providing corresponding force feedback based on this data. However, this approach is limited by the size of the catheters that enter natural body cavities, and the fact that placing a force feedback sensor at the catheter tip places extremely high demands on manufacturing processes and materials. Furthermore, adding a force feedback sensor increases the size of the endoscopic catheter tip, making it difficult to traverse narrow cavities and reach the intended position, thus affecting diagnostic and treatment outcomes. Therefore, a solution capable of accurate medical navigation is urgently needed. Summary of the Invention

[0004] This application provides a medical navigation control method, apparatus, device, and storage medium for accurately determining force feedback information based on multiple factors, thereby outputting a more accurate feedback signal to the operator.

[0005] This application provides a medical navigation control method for navigating a medical catheter during its operation. The method is applied to a medical control terminal electrically connected to the medical catheter. The method includes: in the current control cycle, acquiring motor parameters driving the medical catheter within a target cavity, and movement parameters of the catheter head within the target cavity; estimating first force information and second force information of the medical catheter within the target cavity based on the motor parameters and the movement parameters; predicting the probability of a target collision between the medical catheter and the target cavity based on medical images of the medical catheter within the target cavity; generating force feedback information for the current control cycle based on the first force information, the second force information, and the target collision probability; calculating an estimation error for the current control cycle based on the force feedback information for the current control cycle, the force feedback information for the previous control cycle, and the estimation error for the previous control cycle; and, if the estimation error for the current control cycle meets a set requirement, controlling the operating handle of the medical catheter to output a perceptible feedback signal to the operator based on the force feedback information for the current control cycle.

[0006] Further optionally, the motor parameters include: the displacement and tension of each of the plurality of motors; based on the motor parameters, estimating the first force information of the medical catheter within the target cavity includes: selecting at least one target motor in a non-empty stroke from the plurality of motors based on the displacement and tension of each of the plurality of motors; the displacement of the at least one target motor is greater than a first threshold; the tension of the at least one target motor is greater than a second threshold; and calculating the resultant force of the at least one target motor based on the tension of the at least one target motor and a preset first calculation coefficient, as the first force information of the medical catheter.

[0007] Further optionally, the movement parameters include: movement distance; based on the movement parameters, estimating the second force information of the medical catheter in the target cavity includes: determining whether the medical catheter has undergone a positional change based on the movement distance and a preset distance threshold; if the medical catheter has not undergone a positional change, and the movement distance is within a first preset distance range, determining the second force to be 0; the distance threshold is less than the lower limit of the first preset distance range; if the movement distance is not within the first preset distance range, then determining the second force information of the medical catheter in the target cavity based on the current number of iterations, a preset second calculation coefficient, and the force information generated per unit displacement.

[0008] Further optionally, the movement parameter further includes: the amount of change in displacement direction; the method further includes: in the event of a sudden change in the position of the medical catheter, if the movement distance is within a second preset distance range, determining that the second force is 0; the second preset distance range is greater than the first preset distance range; if the movement distance is not within the second preset distance range or the amount of change in displacement direction is greater than a preset change threshold, then calculating the second force information of the medical catheter in the target cavity based on a preset third calculation coefficient and the force information generated by the unit displacement.

[0009] Further optionally, generating force feedback information within the current control cycle based on the first force information, the second force information, and the target collision probability includes: querying a preset positive correlation between the collision probability and the force information based on the target collision probability to obtain the third force information of the medical catheter in the target cavity; and generating the force feedback information within the current control cycle based on the first force information, the second force information, and the third force information.

[0010] Further optionally, the estimation error in the current control cycle is calculated based on the force feedback information in the current control cycle, the force feedback information in the previous control cycle, and the estimation error in the previous control cycle, including: using a Kalman filter algorithm to calculate the Kalman gain based on the estimation error in the previous control cycle and the measurement error in the current control cycle; and determining the estimation error in the current control cycle based on the Kalman gain and the force feedback information in the current control cycle.

[0011] Further optionally, the feedback signal is at least one of a vibration signal, an audio signal, and an optical signal.

[0012] This application embodiment also provides a medical navigation control device, including: a parameter acquisition module, used to: acquire motor parameters for driving a medical catheter to operate in a target cavity, and movement parameters of the catheter head in the target cavity, in the current control cycle; a force estimation module, used to: estimate first force information and second force information of the medical catheter in the target cavity based on the motor parameters and movement parameters, respectively; a probability prediction module, used to: predict the target collision probability between the medical catheter and the target cavity based on medical images of the medical catheter in the target cavity; a feedback generation module, used to generate force feedback information in the current control cycle based on the first force information, the second force information, and the target collision probability; an error calculation module, used to: calculate the estimation error in the current control cycle based on the force feedback information in the current control cycle, the force feedback information in the previous control cycle, and the estimation error in the previous control cycle; and a feedback output module: when the estimation error in the current control cycle meets a set requirement, control the operating handle of the medical catheter to output a perceptible feedback signal to the operator based on the force feedback information in the current control cycle.

[0013] This application embodiment also provides a medical control terminal, including: a memory and a processor; wherein, the memory is used to: store one or more computer instructions; the processor is used to execute the one or more computer instructions to: perform the steps in the medical navigation control method.

[0014] This application also provides a computer-readable storage medium that, when executed by a processor, enables the processor to implement the steps in the medical navigation control method.

[0015] In this embodiment, motor parameters and catheter tip movement parameters within the cavity can be acquired during the current control cycle. Based on these parameters, different force information of the medical catheter within the cavity is estimated. The collision probability is predicted based on the image of the medical catheter within the cavity. Force feedback information for the current control cycle is generated based on the different force information and collision probabilities. The estimation error for the current control cycle is calculated based on the force feedback information from the current and previous control cycles, as well as the estimation error from the previous control cycle. When conditions are met, the catheter handle can be controlled to output a perceptible feedback signal based on the force feedback information from the current control cycle. In this way, there is no need to set up a force feedback sensor. Force feedback information can be determined more accurately based on multiple factors, thereby outputting a more accurate feedback signal to the operator and thus performing medical navigation more accurately. Attached Figure Description

[0016] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0017] Figure 1 is a flowchart illustrating a medical navigation control method provided in an exemplary embodiment of this application;

[0018] Figure 2 is a schematic diagram of a usage scenario of the medical control terminal provided in an exemplary embodiment of this application;

[0019] Figure 3 is a schematic diagram of the structure of a medical navigation control device provided in an exemplary embodiment of this application;

[0020] Figure 4 is a schematic diagram of the structure of a medical control terminal provided in an exemplary embodiment of this application. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0022] In existing technologies, a force feedback sensor can be installed at the tip of an endoscopic catheter to collect force data on the catheter and provide corresponding force feedback based on this data. However, this is limited by the size of the catheter that enters the body's natural cavities, and the fact that installing a force feedback sensor at the catheter tip places extremely high demands on the manufacturing process and materials. Installing a force feedback sensor would increase the volume of the endoscopic catheter tip, making it impossible to pass through narrow cavities to reach the preset position, thus affecting the diagnostic and treatment outcomes.

[0023] In view of the technical problems existing in the prior art, a solution is provided in some embodiments of this application. The technical solutions provided by the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0024] This application provides a medical navigation control method, which can be used to navigate and control a medical catheter during medical catheterization.

[0025] Figure 1 is a flowchart illustrating a medical navigation control method provided in an exemplary embodiment of this application. As shown in Figure 1, the method includes:

[0026] Step 11: In the current control cycle, acquire the motor parameters that drive the medical catheter to operate in the target cavity, as well as the movement parameters of the catheter head in the target cavity.

[0027] Step 12: Based on the motor parameters and movement parameters, estimate the first and second force information of the medical catheter in the target cavity.

[0028] Step 13: Based on the medical images of the medical catheter within the target cavity, predict the probability of a target collision between the medical catheter and the target cavity.

[0029] Step 14: Generate force feedback information for the current control cycle based on the first force information, the second force information, and the target collision probability.

[0030] Step 15: Calculate the estimation error in the current control cycle based on the force feedback information in the current control cycle, the force feedback information in the previous control cycle, and the estimation error in the previous control cycle.

[0031] Step 16: If the estimation error in the current control cycle meets the set requirements, control the operating handle of the medical catheter to output a perceptible feedback signal to the operator based on the force feedback information in the current control cycle.

[0032] The aforementioned medical navigation control method can be applied to a medical control terminal electrically connected to a medical catheter, enabling navigation control of the medical catheter during catheterization. As shown in Figure 2, the medical control terminal can be electrically connected to the medical catheter, motor, and operating handle. The motor is connected to the tip of the medical catheter, thereby driving the catheter to move within the cavity. The tip of the medical catheter is equipped with an image acquisition device (i.e., an endoscope), which can acquire medical images within the cavity and display them on the display component of the medical control terminal, allowing the operator to diagnose the patient. On one hand, the operator can send control commands to the motor via the operating handle, thereby controlling the movement of the medical catheter within the cavity; on the other hand, the medical catheter experiences forces within the cavity during movement (such as resistance caused by the cavity itself), and the medical control terminal can calculate force feedback information based on the aforementioned medical navigation control method and control the operating handle to output perceptible feedback signals to the operator.

[0033] The above-mentioned medical navigation control method will be explained in detail below.

[0034] In this embodiment, during the current control cycle, the medical control terminal can acquire the motor parameters driving the medical catheter to operate within the target cavity, as well as the movement parameters of the catheter head within the target cavity. The control cycle is also an iteration cycle, and each control cycle can correspond to a specified duration. The specified duration can be any length; this embodiment does not impose any restrictions, for example, every 5 seconds constitutes one control cycle. The target cavity is the cavity on the detection object used to accommodate the medical catheter, and can be a blood vessel, trachea, or intestine, etc. The detection object can be a human or an animal; this embodiment does not impose any restrictions.

[0035] The device utilizes multiple motors to drive the medical catheter within the target cavity. Any number of these motors can work together to control the catheter's movement. Motor parameters describe the motor's operating state or the driving parameters that propel the medical catheter. These parameters may include the individual displacement and tension of each motor. Each motor records its own parameters during operation, which the medical control terminal can retrieve.

[0036] The movement parameters describe the motion of the catheter tip within the target cavity. These parameters include, but are not limited to, at least one of the following: movement distance, movement speed, and movement time. Optionally, the medical control terminal can identify the movement parameters based on medical images captured by the endoscope within the target cavity using machine vision algorithms. Optionally, the catheter can be equipped with a positioning device for positioning the catheter tip, and the medical control terminal can calculate the movement parameters based on the real-time position of the catheter tip.

[0037] Different motor parameters mean different resultant forces exerted by the motor on the medical catheter, resulting in different forces acting on the catheter within the target lumen. Similarly, different movement parameters of the catheter tip within the target lumen also mean different forces acting on the catheter. Based on these principles, after obtaining the motor and movement parameters, the medical control terminal can estimate the first force information of the medical catheter within the target lumen based on the motor parameters, and the second force information based on the movement parameters. The force information describes the force situation of the medical catheter within the target lumen; the use of "first" and "second" to define the force information is solely for distinguishing between different force information.

[0038] The medical control terminal can predict the target collision probability between the medical catheter and the target cavity based on medical images of the medical catheter within the target cavity. Specifically, the medical control terminal can use a wall collision prediction model to determine the first collision probability between the medical catheter and the target cavity based on the semantic features of the medical image; perform image recognition on the inner wall image to obtain the visual features of the medical image; use preset wall collision judgment rules to determine the second collision probability between the medical catheter and the target cavity based on the visual features; and calculate the target wall collision probability based on the first and second wall collision probabilities.

[0039] Semantic features are high-level features, representing the closest possible understanding of an image to human comprehension. Visual features are low-level features, including contour features, edge features, color features, brightness features, and shape features. The collision prediction model is pre-trained using a large number of medical image samples, enabling it to accurately determine the collision probability between the medical catheter and the target cavity based on the medical images. The collision prediction model first extracts the semantic features from the medical images and then calculates the collision probability based on these features. Collision judgment rules describe the correspondence between different visual features and collision probabilities. The medical control terminal calculates the target collision probability according to a preset fusion calculation method. This fusion calculation method may include weighted summation or weighted average, etc.

[0040] After predicting the target collision probability, the medical control terminal can comprehensively calculate the first force information, the second force information, and the target collision probability to determine the force situation of the medical catheter within the target cavity, thereby generating force feedback information for the current control cycle. The comprehensive calculation methods include, but are not limited to, taking the maximum value or weighted summation. The force feedback information describes the magnitude of the force applied to the operator. In this way, the medical control terminal can combine multiple factors (motor parameters, catheter tip movement parameters within the cavity, and the probability of collision) to determine the force feedback information more accurately.

[0041] After obtaining the force feedback information, the medical control terminal can calculate the estimation error for the current control cycle based on the force feedback information from the current control cycle, the force feedback information from the previous control cycle, and the estimation error from the previous control cycle. The estimation error for any control cycle refers to the error between the force feedback information and the measured value within that control cycle. In this way, the medical control terminal can accurately calculate the estimation error for the current control cycle using the force feedback information and estimation error from the previous control cycle. Therefore, when the estimation error for the current control cycle meets the set requirements, the terminal can control the operating handle of the medical catheter to output a perceptible feedback signal to the operator based on the force feedback information for the current control cycle. The set requirements can be that the estimation error for the current control cycle converges to a preset error range. The medical control terminal can generate corresponding control parameters based on the force feedback information for the current control cycle and send them to the operating handle of the medical catheter to control the operating handle to output a perceptible feedback signal to the operator. The feedback signal can be at least one of vibration, audio, and optical signals.

[0042] The following explanation will be based on real-world scenarios. Taking vibration as an example, the greater the force feedback to the operator in the force feedback information, the higher the vibration frequency of the vibration signal output to the operator. Similarly, taking audio as an example, the greater the force feedback to the operator in the force feedback information, the higher the sound intensity of the audio signal output to the operator.

[0043] In this embodiment, motor parameters and catheter tip movement parameters within the cavity can be acquired during the current control cycle. Based on these parameters, different force information of the medical catheter within the cavity is estimated. The collision probability is predicted based on the image of the medical catheter within the cavity. Force feedback information for the current control cycle is generated based on the different force information and collision probabilities. The estimation error for the current control cycle is calculated based on the force feedback information from the current and previous control cycles, as well as the estimation error from the previous control cycle. When conditions are met, the catheter handle can be controlled to output a perceptible feedback signal based on the force feedback information from the current control cycle. In this way, there is no need to set up a force feedback sensor. Force feedback information can be determined more accurately based on multiple factors, thereby outputting a more accurate feedback signal to the operator and thus performing medical navigation more accurately.

[0044] In some alternative embodiments, the motor parameters may include the displacement and tension of each of the multiple motors.

[0045] When the medical control terminal estimates the initial force information of the medical catheter within the target cavity based on motor parameters, it can be achieved using the following implementation method:

[0046] The medical control terminal can select at least one target motor that is not in its idle stroke from among multiple motors based on their respective displacement and tension. Because medical catheters are flexible, and the connecting lines between the catheters and motors are also flexible, both the connecting lines and the catheters often exhibit bending. Therefore, at the beginning of the current control cycle, some motors cannot immediately drive the medical catheter to move and require a period of operation before they can move it. These motors that cannot immediately drive the medical catheter to move at the beginning of the current control cycle are considered to be in their idle stroke. Conversely, the motors that can immediately drive the medical catheter to move at the beginning of the current control cycle are considered to be in their non-idle stroke.

[0047] The medical control terminal can select at least one motor from multiple motors whose displacement is greater than a first threshold and whose tension is greater than a second threshold, as at least one target motor in non-empty stroke.

[0048] Subsequently, the medical control terminal can calculate the resultant force of at least one target motor based on the pulling force of at least one target motor and a preset first calculation coefficient, as the first force information of the medical catheter. When the number of target motors is 1, the first force information of the catheter can be calculated using the following formula:

[0049] F1=k1×F1(Formula 1)

[0050] Wherein, F1 is the first force information of the medical catheter, k1 is the first calculation coefficient, and F1 is the pulling force of the target motor.

[0051] When the number of target motors is greater than one (e.g., there are two target motors), the initial force information of the conduit can be calculated using the following formula:

[0052]

[0053] Among them, F1 is the first force information of the medical catheter, k1 is the first calculation coefficient, and F1 and F2 are the pulling forces of the two target motors.

[0054] When the number of target motors is greater than one (e.g., there are three target motors), the initial force information of the conduit can be calculated using the following formula:

[0055]

[0056] Among them, F1 is the first force information of the medical catheter, k1 is the first calculation coefficient, and F1, F2 and F3 are the pulling forces of the three target motors.

[0057] In this way, the medical control terminal can accurately predict the initial force information of the medical catheter in the target cavity based on the motor parameters.

[0058] In some optional embodiments, the movement parameters may include: movement distance and displacement direction change. The movement distance is the distance the catheter tip moves within the current control cycle. The displacement direction change is the angle by which the direction of movement of the catheter tip changes within the current control cycle. For example, if the direction of movement of the catheter tip is T1 at the beginning and T2 at the end of the current control cycle, then the displacement direction change is T2-T1.

[0059] Based on this, when the medical control terminal estimates the second force information of the medical catheter in the target cavity according to the movement parameters, it can be implemented based on the following methods:

[0060] The medical control terminal can determine whether a medical catheter has undergone a positional change based on the distance traveled and a preset distance threshold. Specifically, a positional change is considered to have occurred when the travel distance exceeds the distance threshold, and not when the travel distance is less than or equal to the distance threshold.

[0061] The following will explain the two scenarios: "the medical catheter undergoes a positional change" and "the medical catheter does not undergo a positional change".

[0062] Scenario 1: If the medical catheter does not undergo a sudden change in position, and the movement distance is within the first preset distance range, then the second force can be determined to be 0. The distance threshold is less than the lower limit of the first preset distance range.

[0063] If the movement distance is not within the first preset distance range, the second force information of the medical catheter in the target cavity can be determined based on the current number of iterations, the preset second calculation coefficient, and the force information generated per unit displacement. Specifically, the medical control terminal can calculate the second force information based on the current number of iterations, the maximum number of iterations, the preset second calculation coefficient, and the force information generated per unit displacement, as shown in the following formula:

[0064] F2=k2×n×f / N max (Formula 4)

[0065] Where F2 is the second force information, k2 is the second calculation coefficient, f is the force information generated per unit displacement, n is the current iteration number, and N is the total force. max This represents the maximum number of iteration cycles.

[0066] Scenario 2: In the event of a sudden change in the position of the medical catheter, if the movement distance is within the second preset distance range, then the second force can be determined to be 0. The second preset distance range is greater than the first preset distance range; that is, the lower limit of the second preset distance range is greater than the upper limit of the first preset distance range.

[0067] If the movement distance is not within the second preset distance range or the change in displacement direction is greater than the preset change threshold, then the second force information of the medical catheter in the target cavity can be calculated based on the preset third calculation coefficient and the force information generated by the unit displacement. Specifically, the second force information can be obtained based on the following formula:

[0068] F2=k3×f(Formula 5)

[0069] Among them, F2 is the second force information, k3 is the third calculation coefficient, and f is the force information generated by a unit displacement.

[0070] It should be noted that the various calculation coefficients and the force information generated by the unit displacement mentioned above can be customized by the operator according to actual needs or according to the pre-determined experimental process.

[0071] In this way, the medical control terminal can accurately predict the second force information of the medical catheter in the target cavity based on the movement parameters.

[0072] In some optional embodiments, when the medical control terminal generates force feedback information for the current control cycle based on the first force information, the second force information, and the target collision probability, it can query a preset positive correlation between collision probability and force information to obtain the third force information of the medical catheter in the target cavity. The positive correlation between collision probability and force information stores force information corresponding to different collision probabilities. The higher the collision probability, the greater the force information.

[0073] Subsequently, the medical control terminal can generate force feedback information for the current control cycle based on the first force information, the second force information, and the third force information.

[0074] The medical control terminal can use the maximum value among the first, second, and third force information as the force feedback information for the current control cycle. Alternatively, the medical control terminal can obtain the weight information of each force information, and perform a weighted summation of the first, second, and third force information to obtain the force feedback information for the current control cycle. The weighted summation process can be calculated based on the following formula:

[0075] F = F1×y1 + F2×y2 + F3×y3 (Formula 6)

[0076] Where F represents the force feedback information within the current control cycle, F1 represents the first force information, F2 represents the second force information, F3 represents the third force information, and y1, y2, and y3 represent the respective weights of the first, second, and third force information, respectively.

[0077] In this way, the medical control terminal can combine multiple factors (motor parameters, catheter tip movement parameters within the cavity, and probability of collision) to determine the force feedback information within the current control cycle more accurately.

[0078] In some optional embodiments, when the medical control terminal calculates the estimation error in the current control cycle based on the force feedback information in the current control cycle, the force feedback information in the previous control cycle, and the estimation error in the previous control cycle, it can be implemented based on the following methods:

[0079] The medical control terminal can use the Kalman filter algorithm to calculate the Kalman gain based on the estimation error in the previous control cycle and the measurement error in the current control cycle. The Kalman filter algorithm is an optimal estimation algorithm based on the minimum mean square error as the best estimation criterion.

[0080] It should be noted that in this scheme, the actual stress on the catheter can be measured in advance through experiments.

[0081] Specifically, the force measurements on the catheter can be obtained through a measuring device (such as a force sensor installed on the catheter) at various catheter configurations. Measurement error refers to the difference between the actual force value on the catheter and the measured force value; the magnitude of the measurement error is determined by the error of the measuring device itself and the amount of change in the catheter configuration. Estimation error refers to the error between the force feedback information and the measured force value.

[0082] Alternatively, the Kalman gain can be calculated based on the following formula:

[0083]

[0084] Among them, K k For Kalman gain, E est(t-1) E represents the estimation error within the previous control cycle. mea(t) This represents the measurement error within the current control cycle.

[0085] After calculating the Kalman gain, the medical control terminal can determine the estimation error for the current control cycle based on the Kalman gain and the force feedback information within the current control cycle. Specifically, the medical control terminal can acquire the force measurement value of the medical catheter within the current control cycle and calculate the estimation error for the current control cycle based on the Kalman gain, the force measurement value of the medical catheter within the current control cycle, and the force feedback information within the current control cycle.

[0086] In this way, the medical control terminal can calculate the estimation error within the current control cycle more accurately based on information from multiple control cycles.

[0087] It should be noted that the execution subject of each step of the method provided in the above embodiments can be the same device, or the method can be executed by different devices. For example, the execution subject of steps 11 to 15 can be device A; or the execution subject of steps 11 to 13 can be device A, and the execution subject of steps 14 to 15 can be device B; and so on.

[0088] Furthermore, some processes described in the above embodiments and accompanying drawings include multiple operations that appear in a specific order. However, it should be clearly understood that these operations may not be executed in the order they appear herein, or they may be executed in parallel. The operation numbers, such as 11, 12, etc., are merely used to distinguish different operations and do not represent any execution order. In addition, these processes may include more or fewer operations, and these operations may be executed sequentially or in parallel.

[0089] It should be noted that the terms "first" and "second" in this article are used to distinguish different messages, devices, modules, etc., and do not represent a chronological order, nor do they limit "first" and "second" to different types.

[0090] Figure 3 is a schematic diagram of the structure of a medical navigation control device provided in an exemplary embodiment of this application. This medical navigation control device is applicable to the medical navigation control method provided in the foregoing embodiments. As shown in Figure 3, the medical navigation control device includes: a parameter acquisition module 301, configured to: acquire, in the current control cycle, motor parameters for driving the medical catheter to operate within the target cavity, and movement parameters of the catheter head within the target cavity; a force estimation module 302, configured to: estimate, based on the motor parameters and movement parameters, first force information and second force information of the medical catheter within the target cavity, respectively; and a probability prediction module 303, configured to: predict, based on medical images of the medical catheter within the target cavity... The system predicts the probability of a target collision between the medical catheter and the target cavity; the feedback generation module 304 generates force feedback information for the current control cycle based on the first force information, the second force information, and the target collision probability; the error calculation module 305 calculates the estimation error for the current control cycle based on the force feedback information for the current control cycle, the force feedback information for the previous control cycle, and the estimation error for the previous control cycle; the feedback output module 306, when the estimation error for the current control cycle meets the set requirements, controls the operating handle of the medical catheter to output a perceptible feedback signal to the operator based on the force feedback information for the current control cycle.

[0091] Further optionally, the motor parameters include: the displacement and tension of each of the multiple motors; when the force estimation module 302 estimates the first force information of the medical catheter in the target cavity based on the motor parameters, it is specifically used to: select at least one target motor in a non-empty stroke from the multiple motors based on the displacement and tension of each of the multiple motors; the displacement of the at least one target motor is greater than a first threshold; the tension of the at least one target motor is greater than a second threshold; calculate the resultant force of the at least one target motor based on the tension of the at least one target motor and a preset first calculation coefficient, as the first force information of the medical catheter.

[0092] Further optionally, the movement parameters include: movement distance; when the force estimation module 302 estimates the second force information of the medical catheter in the target cavity based on the movement parameters, it is specifically used to: determine whether the medical catheter has undergone a positional change based on the movement distance and a preset distance threshold; if the medical catheter has not undergone a positional change, and the movement distance is within a first preset distance range, determine that the second force is 0; the distance threshold is less than the lower limit of the first preset distance range; if the movement distance is not within the first preset distance range, determine the second force information of the medical catheter in the target cavity based on the current number of iterations, a preset second calculation coefficient, and the force information generated per unit displacement.

[0093] Further optionally, the movement parameters also include: displacement direction change; the force estimation module 302 is further configured to: in the event of a sudden change in the position of the medical catheter, if the movement distance is within a second preset distance range, determine that the second force is 0; the second preset distance range is greater than the first preset distance range; if the movement distance is not within the second preset distance range or the displacement direction change is greater than a preset change threshold, calculate the second force information of the medical catheter in the target cavity based on a preset third calculation coefficient and the force information generated by the unit displacement.

[0094] Further optionally, when the feedback generation module 304 generates force feedback information within the current control cycle based on the first force information, the second force information, and the target collision probability, it is specifically used to: query a preset positive correlation between the collision probability and the force information based on the target collision probability to obtain the third force information of the medical catheter in the target cavity; and generate the force feedback information within the current control cycle based on the first force information, the second force information, and the third force information.

[0095] Optionally, when the error calculation module 305 calculates the estimation error in the current control cycle based on the force feedback information in the current control cycle, the force feedback information in the previous control cycle, and the estimation error in the previous control cycle, it specifically performs the following: using a Kalman filter algorithm, it calculates the Kalman gain based on the estimation error in the previous control cycle and the measurement error in the current control cycle; and determines the estimation error in the current control cycle based on the Kalman gain and the force feedback information in the current control cycle.

[0096] Further optionally, the feedback signal is at least one of a vibration signal, an audio signal, and an optical signal.

[0097] In this embodiment, motor parameters and catheter tip movement parameters within the cavity can be acquired during the current control cycle. Based on these parameters, different force information of the medical catheter within the cavity is estimated. The collision probability is predicted based on the image of the medical catheter within the cavity. Force feedback information for the current control cycle is generated based on the different force information and collision probabilities. The estimation error for the current control cycle is calculated based on the force feedback information from the current and previous control cycles, as well as the estimation error from the previous control cycle. When conditions are met, the catheter handle can be controlled to output a perceptible feedback signal based on the force feedback information from the current control cycle. In this way, there is no need to set up a force feedback sensor. Force feedback information can be determined more accurately based on multiple factors, thereby outputting a more accurate feedback signal to the operator and thus performing medical navigation more accurately.

[0098] Figure 4 is a schematic diagram of the structure of a medical control terminal provided in an exemplary embodiment of this application. The medical control terminal is applicable to the medical navigation control method provided in the foregoing embodiments. As shown in Figure 4, the medical control terminal includes: a memory 401, a processor 402, an audio component 403, and a display component 404.

[0099] Memory 401 is used to store computer programs and can be configured to store various other data to support operation on the terminal device. Examples of this data include instructions for any application or method used to operate on the terminal device, contact data, phone book data, messages, pictures, videos, etc.

[0100] Processor 402, coupled to memory 401, is used to execute a computer program in memory 401 for: acquiring, in the current control cycle, motor parameters for driving the medical catheter to operate within the target cavity, and movement parameters of the catheter tip within the target cavity; estimating, based on the motor parameters and the movement parameters, first force information and second force information of the medical catheter within the target cavity; predicting the target collision probability of the medical catheter with the target cavity based on medical images of the medical catheter within the target cavity; generating force feedback information for the current control cycle based on the first force information, the second force information, and the target collision probability; calculating the estimation error for the current control cycle based on the force feedback information for the current control cycle, the force feedback information for the previous control cycle, and the estimation error for the previous control cycle; and, if the estimation error for the current control cycle meets a set requirement, controlling the operating handle of the medical catheter to output a perceptible feedback signal to the operator based on the force feedback information for the current control cycle.

[0101] Further optionally, the motor parameters include: the displacement and tension of each of the plurality of motors; when the processor 402 estimates the first force information of the medical catheter in the target cavity based on the motor parameters, it is specifically used to: select at least one target motor in a non-empty stroke from the plurality of motors based on the displacement and tension of each of the plurality of motors; the displacement of the at least one target motor is greater than a first threshold; the tension of the at least one target motor is greater than a second threshold; calculate the resultant force of the at least one target motor based on the tension of the at least one target motor and a preset first calculation coefficient, as the first force information of the medical catheter.

[0102] Further optionally, the movement parameter includes: movement distance; when the processor 402 estimates the second force information of the medical catheter in the target cavity based on the movement parameter, it is specifically used to: determine whether the medical catheter has undergone a positional change based on the movement distance and a preset distance threshold; if the medical catheter has not undergone a positional change, and the movement distance is within a first preset distance range, determine that the second force is 0; the distance threshold is less than the lower limit of the first preset distance range; if the movement distance is not within the first preset distance range, determine the second force information of the medical catheter in the target cavity based on the current number of iterations, a preset second calculation coefficient, and the force information generated per unit displacement.

[0103] Further optionally, the movement parameter further includes: displacement direction change; the processor 402 is also configured to: in the event of a sudden change in the position of the medical catheter, if the movement distance is within a second preset distance range, determine that the second force is 0; the second preset distance range is greater than the first preset distance range; if the movement distance is not within the second preset distance range or the displacement direction change is greater than a preset change threshold, calculate the second force information of the medical catheter in the target cavity based on a preset third calculation coefficient and the force information generated by the unit displacement.

[0104] Further optionally, when the processor 402 generates force feedback information within the current control cycle based on the first force information, the second force information, and the target collision probability, it is specifically used to: query a preset positive correlation between the collision probability and the force information based on the target collision probability to obtain the third force information of the medical catheter in the target cavity; and generate the force feedback information within the current control cycle based on the first force information, the second force information, and the third force information.

[0105] Further optionally, when the processor 402 calculates the estimation error in the current control cycle based on the force feedback information in the current control cycle, the force feedback information in the previous control cycle, and the estimation error in the previous control cycle, it specifically performs the following: using a Kalman filter algorithm, it calculates the Kalman gain based on the estimation error in the previous control cycle and the measurement error in the current control cycle; and determines the estimation error in the current control cycle based on the Kalman gain and the force feedback information in the current control cycle.

[0106] Further optionally, the feedback signal is at least one of a vibration signal, an audio signal, and an optical signal.

[0107] Furthermore, only some components are shown schematically in Figure 4, which does not mean that the medical control terminal only includes the components shown in Figure 4.

[0108] The memory 401 in Figure 4 above can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0109] Accordingly, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed, can perform the steps that can be executed by the medical control terminal in the above method embodiments.

[0110] In this embodiment, motor parameters and catheter tip movement parameters within the cavity can be acquired during the current control cycle. Based on these parameters, different force information of the medical catheter within the cavity is estimated. The collision probability is predicted based on the image of the medical catheter within the cavity. Force feedback information for the current control cycle is generated based on the different force information and collision probabilities. The estimation error for the current control cycle is calculated based on the force feedback information from the current and previous control cycles, as well as the estimation error from the previous control cycle. When conditions are met, the catheter handle can be controlled to output a perceptible feedback signal based on the force feedback information from the current control cycle. In this way, there is no need to set up a force feedback sensor. Force feedback information can be determined more accurately based on multiple factors, thereby outputting a more accurate feedback signal to the operator and thus performing medical navigation more accurately.

[0111] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0112] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more blocks of the flowchart illustrations and / or one or more blocks of the block diagrams.

[0113] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0114] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0115] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0116] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0117] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0118] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0119] The above description is merely an embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of this application should be included within the scope of the claims of this application.

Claims

1. A medical navigation control method, characterized in that, For navigation control of a medical catheter during medical catheterization, applied to a medical control terminal electrically connected to the medical catheter, the method includes: in the current control cycle, acquiring motor parameters driving the medical catheter to operate within a target cavity, and movement parameters of the catheter head within the target cavity; estimating first force information and second force information of the medical catheter within the target cavity based on the motor parameters and the movement parameters; predicting the target collision probability between the medical catheter and the target cavity based on medical images of the medical catheter within the target cavity; generating force feedback information for the current control cycle based on the first force information, the second force information, and the target collision probability; calculating the estimation error for the current control cycle based on the force feedback information for the current control cycle, the force feedback information for the previous control cycle, and the estimation error for the previous control cycle; and, if the estimation error for the current control cycle meets a set requirement, controlling the operating handle of the medical catheter to output a perceptible feedback signal to the operator based on the force feedback information for the current control cycle.

2. The method according to claim 1, wherein the motor parameters include: The displacement and tension of each of the multiple motors; Based on the motor parameters, the first force information of the medical catheter within the target cavity is estimated, including: selecting at least one target motor in a non-empty stroke from the plurality of motors based on their respective displacements and tensions; the displacement of the at least one target motor is greater than a first threshold; the tension of the at least one target motor is greater than a second threshold; and the resultant force of the at least one target motor is calculated based on the tension of the at least one target motor and a preset first calculation coefficient, as the first force information of the medical catheter.

3. The method according to claim 1, wherein the movement parameters include: Distance traveled; Based on the movement parameters, the second force information of the medical catheter within the target cavity is estimated, including: determining whether the medical catheter has undergone a positional change based on the movement distance and a preset distance threshold; if the medical catheter has not undergone a positional change, and the movement distance is within a first preset distance range, the second force is determined to be 0; the distance threshold is less than the lower limit of the first preset distance range; if the movement distance is not within the first preset distance range, the second force information of the medical catheter within the target cavity is determined based on the current number of iterations, a preset second calculation coefficient, and the force information generated per unit displacement.

4. The method according to claim 3, wherein the movement parameter further comprises: Change in displacement direction; The method further includes: if the movement distance is within a second preset distance range when the position of the medical catheter changes abruptly, determining that the second force is 0; the second preset distance range is greater than the first preset distance range; If the moving distance is not within the second preset distance range or the change in displacement direction is greater than the preset change threshold, then the second force information of the medical catheter in the target cavity is calculated based on the preset third calculation coefficient and the force information generated by the unit displacement.

5. The method according to claim 1, wherein force feedback information for the current control cycle is generated based on the first force information, the second force information, and the target collision probability, comprising: Based on the target collision probability, the preset positive correlation between the collision probability and the force information is queried to obtain the third force information of the medical catheter in the target cavity; based on the first force information, the second force information and the third force information, the force feedback information within the current control cycle is generated.

6. The method according to claim 1, wherein calculating the estimation error in the current control cycle based on the force feedback information in the current control cycle, the force feedback information in the previous control cycle, and the estimation error in the previous control cycle includes: Using the Kalman filter algorithm, the Kalman gain is calculated based on the estimation error in the previous control cycle and the measurement error in the current control cycle; The estimation error within the current control cycle is determined based on the Kalman gain and the force feedback information within the current control cycle.

7. The method according to any one of claims 1-6, characterized in that, The feedback signal is at least one of vibration signal, audio signal and optical signal.

8. A medical navigation control device, characterized in that, include: The parameter acquisition module is used to: acquire, in the current control cycle, the motor parameters that drive the medical catheter to operate in the target cavity, and the movement parameters of the catheter head in the target cavity; The force estimation module is used to: estimate the first force information and the second force information of the medical catheter in the target cavity according to the motor parameters and the movement parameters, respectively; the probability prediction module is used to: predict the target collision probability between the medical catheter and the target cavity according to the medical image of the medical catheter in the target cavity; The feedback generation module is used to generate force feedback information within the current control cycle based on the first force information, the second force information, and the target collision probability; the error calculation module is used to calculate the estimation error within the current control cycle based on the force feedback information within the current control cycle, the force feedback information within the previous control cycle, and the estimation error within the previous control cycle. Feedback output module: When the estimation error in the current control cycle meets the set requirements, the module controls the operating handle of the medical catheter to output a perceptible feedback signal to the operator based on the force feedback information in the current control cycle.

9. A medical control terminal, characterized in that, include: A memory and a processor; wherein the memory is configured to: store one or more computer instructions; and the processor is configured to execute the one or more computer instructions to: perform the steps of the method according to any one of claims 1-7.

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

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