Guidewire motion control method and system

Abstract

The application relates to a guide wire movement control method and system. The method comprises the following steps: the guide wire is magnetized in advance; after the guide wire is placed in the blood vessel of a target object, an interventional image of the guide wire in the blood vessel of the target object is acquired; the force storage value of the tip is calculated according to the interventional image; the movement strategy of the guide wire is determined according to the force storage value and is fed back to the operator of the guide wire, so as to instruct the operator to control the guide wire to advance or retreat through an interventional robot and / or control the rotation direction of the tip through a magnetic control device arranged outside the target object. The application can monitor the parameters of the guide wire in real time, provide reliable movement strategies for the operator, so that the operator can control the local movement of the tip through the magnetic control device while controlling the overall movement of the guide wire through the interventional robot according to the movement strategies, and the efficiency and safety of the interventional operation are improved.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a method and system for controlling guidewire movement. Background Technology

[0002] With the development of medical robotics technology, interventional robots used in vascular interventional surgery have become a research hotspot. Current interventional surgeries typically employ a separate master-end and slave-end operation method, where the master end is the control console and the slave end is the interventional robot. The operator, within a radiation-shielded chamber, operates the master-end control console to control the slave-end interventional robot, delivering the catheter or guidewire (hereinafter referred to as guidewire) to the patient's lesion site. During the procedure, the operator, based on the operating parameters fed back by the interventional robot, influences the movement of the guidewire inside the body by controlling the external guidewire.

[0003] The above-mentioned operation method relies on the operator's subjective control of the interventional robot, resulting in low efficiency and poor safety of the entire interventional surgery. Summary of the Invention

[0004] Therefore, it is necessary to provide a guidewire motion control method and system to address the above-mentioned technical problems, in order to solve the problem that the operation method in the prior art relies on the operator to control the interventional robot, resulting in low efficiency and poor safety of the entire interventional surgery.

[0005] Firstly, this application provides a method for controlling guidewire motion. The method includes:

[0006] Acquire interventional images of the guidewire within the target blood vessel;

[0007] The interventional image is analyzed to obtain deformation data of the guidewire tip within the blood vessel, and the energy storage value of the tip is calculated based on the deformation data.

[0008] The motion strategy of the guidewire is determined based on the energy storage value;

[0009] The motion strategy is fed back to the operator of the guidewire to instruct the operator to control the guidewire to move forward or backward via an interventional robot, and / or to control the rotation direction of the tip of the guidewire via a magnetic control device located outside the target object.

[0010] The guide wire was pre-magnetized.

[0011] In one embodiment, the step of parsing the interventional image to obtain deformation data of the guidewire tip within the blood vessel, and calculating the charge value of the tip based on the deformation data, includes:

[0012] Mark multiple contact points between the tip and the blood vessel in the interventional image;

[0013] Calculate the curvature of the guidewire based on each of the contact points;

[0014] Calculate the bending moment at the tip based on the cantilever beam model and the bending curvature.

[0015] The energy storage value is obtained based on the bending moment and the angle between the tip and the blood vessel.

[0016] In one embodiment, determining the guidewire movement strategy based on the energy storage value includes:

[0017] When the energy storage value is greater than or equal to the preset energy storage value, the interventional robot is controlled to reduce its operating speed and retreat a first preset distance so that the tip is away from the blood vessel wall of the target object.

[0018] When the stored energy value decreases to less than or equal to the safe stored energy value, the magnetic field of the magnetic control device is controlled to fix the tip, so as to reduce the amplitude of the action when the tip is released.

[0019] In one embodiment, the method further includes:

[0020] Force information is obtained from the force feedback unit installed on the interventional robot, and the force value of the tip in the blood vessel is calculated based on the force information;

[0021] Determining the motion strategy of the guidewire based on the force value includes:

[0022] When the force value is greater than or equal to the first preset force value and less than or equal to the second preset force value, the interventional robot is controlled to reduce its running speed, and at the same time, the magnetic field of the magnetic control device is controlled to change the direction of the tip so that the tip is moved away from the blood vessel wall of the target object.

[0023] When the force information is greater than the second preset force value, the interventional robot is controlled to reduce its running speed and retreat a second preset distance so that the tip is away from the blood vessel wall of the target object.

[0024] In one embodiment, when the guidewire forms a contact point with the vessel wall, the step of obtaining force information from a force feedback unit disposed on the interventional robot and calculating the force value of the tip within the vessel based on the force information includes:

[0025] The force feedback unit obtains the real-time force value monitored by the external sensor, as well as the resistance value encountered by the guidewire when it enters the sheath.

[0026] Based on the real-time force value and the resistance value encountered by the guidewire when it enters the sheath, the force applied to the tip by the interventional robot is calculated.

[0027] The force value of the tip within the blood vessel is determined based on the applied force and the first included angle.

[0028] Wherein, the first included angle is the angle between the guide wire at a contact point and the vertical direction.

[0029] In one embodiment, when the guidewire forms multiple contact points with the vessel wall, the step of obtaining force information from a force feedback unit disposed on the interventional robot and calculating the force value of the tip within the vessel based on the force information includes:

[0030] The first force is calculated based on the applied force and the second angle; wherein the first force is the sum of the forces on the blood vessel wall at each contact point in the vertical direction, and the second angle is the angle between the guidewire at the first contact point and the vertical direction;

[0031] Based on the first force and the third angle, calculate the second force on the blood vessel wall corresponding to the last contact point in the vertical direction, and record the second force as the force value of the tip in the blood vessel; wherein, the third angle is the angle between the tangential surface of the guidewire in contact with the blood vessel wall and the horizontal direction.

[0032] In one embodiment, the method further includes: parsing the interventional image to obtain distance data, wherein the distance data includes any one or more of the following: a first distance between the tip and the vessel wall of the blood vessel, a second distance between the tip and the lesion tissue, and a third distance between the tip and the bifurcation.

[0033] After determining the motion strategy of the guidewire based on the energy storage value, the method further includes:

[0034] The motion strategy of the guidewire is determined based on the distance data;

[0035] The step of determining the motion strategy of the guidewire based on the distance data includes at least one of the following:

[0036] When the first distance is less than or equal to a preset safety distance, the interventional robot is controlled to reduce its operating speed and retreat a third preset distance, so that the tip is away from the blood vessel wall of the target object;

[0037] Alternatively, when the second distance is less than or equal to the preset lesion distance, the interventional robot is controlled to reduce its operating speed;

[0038] Alternatively, when the third distance is less than or equal to the preset turning distance, the robot is controlled to reduce its running speed, and at the same time, the magnetic field of the magnetic control device is controlled to change the direction of the tip so that the guide wire enters the bifurcation.

[0039] In one embodiment, the method further includes: obtaining length data of the guidewire within the target body from the interventional robot, and determining a motion strategy for the guidewire based on the length data;

[0040] The step of determining the motion strategy of the guidewire based on the length data includes:

[0041] When the length data is greater than or equal to the preset length value, the robot is controlled to reduce its running speed and retreat a fourth preset distance.

[0042] In one embodiment, the method further includes: acquiring first device operation information during the operation of the interventional robot, and determining the motion strategy of the guidewire based on the first device operation information; wherein the first device operation information includes the operating speed and operating current of the interventional robot;

[0043] Determining the motion strategy of the guidewire based on the operating information of the first device includes:

[0044] When the operating information of the first device exceeds the range of the first preset safety threshold, the operation of the intervention robot and the magnetic control device shall be stopped.

[0045] In one embodiment, the method further includes: acquiring second device operation information during the operation of the magnetic control device, and determining the motion strategy of the guide wire based on the second device operation information; wherein the second device operation information includes the placement position, force, operating speed, operating current of the magnetic control device, and the distance between the magnetic control device and the target object;

[0046] Determining the motion strategy of the guidewire based on the operating information of the second device includes:

[0047] When the device's operating information exceeds the range of the second preset safety threshold, the intervention robot and the magnetic control device shall cease operation.

[0048] In one embodiment,

[0049] Secondly, this application also provides a guidewire motion control system. The system includes:

[0050] An interventional robot is used to acquire interventional images of a guidewire within a target blood vessel, analyze the images to obtain deformation data of the guidewire tip within the blood vessel, calculate the charge value of the tip based on the deformation data, determine the guidewire's motion strategy based on the charge value, and feed the motion strategy back to the guidewire operator to instruct the operator to control the guidewire's forward or backward movement via the interventional robot, and / or control the rotation direction of the guidewire tip via a magnetic control device located outside the target body; wherein the guidewire has been pre-magnetized.

[0051] A magnetic control device, disposed outside the target object, is used to provide a magnetic field; and

[0052] A force feedback unit is used to obtain the force information of the guidewire in the blood vessel.

[0053] The above-mentioned guidewire motion control method and system have at least the following advantages:

[0054] This application pre-magnetizes the guidewire. After the guidewire is placed in the target patient's blood vessel, interventional images of the guidewire within the blood vessel are acquired. The charge value at the tip is calculated based on the interventional images. The guidewire's movement strategy is determined based on the charge value and fed back to the operator, instructing them to control the guidewire's forward or backward movement via an interventional robot, and / or to control the tip's rotation direction via a magnetic control device located outside the target patient's body. This application can monitor the guidewire's parameters in real time, providing the operator with a reliable movement strategy. Based on this strategy, the operator can control the overall movement of the guidewire via the interventional robot while simultaneously controlling the local movement of the tip via the magnetic control device, thereby improving the efficiency and safety of the interventional procedure. Attached Figure Description

[0055] 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.

[0056] Figure 1 This is a structural block diagram of the guidewire motion control system in one embodiment;

[0057] Figure 2 This is a schematic diagram of the installation of the magnetic control device in one embodiment;

[0058] Figure 3 This is a schematic diagram of the installation of the magnetic control device in another embodiment;

[0059] Figure 4This is a schematic diagram of the installation of the magnetic control device in another embodiment;

[0060] Figure 5 This is a flowchart illustrating a guidewire motion control method in one embodiment;

[0061] Figure 6 This is a flowchart illustrating the steps for calculating the energy storage value in one embodiment;

[0062] Figure 7 This is a schematic diagram showing the deformation of the guidewire tip within a blood vessel in one embodiment.

[0063] Figure 8 This is a flowchart illustrating the guidewire motion control method in another embodiment;

[0064] Figure 9 This is a schematic diagram of the contact between the guidewire and the blood vessel wall in one embodiment;

[0065] Figure 10 This is a schematic diagram of the guidewire contacting the blood vessel wall in another embodiment;

[0066] Figure 11 This is a flowchart illustrating the guidewire motion control method in another embodiment;

[0067] Figure 12 This is a flowchart illustrating the guidewire motion control method in another embodiment;

[0068] Figure 13 This is a flowchart illustrating the guidewire motion control method in another embodiment;

[0069] Figure 14 This is a flowchart illustrating the guidewire motion control method in another embodiment. Detailed Implementation

[0070] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, unless otherwise specified, the following embodiments and features described therein can be combined with each other.

[0071] Some exemplary embodiments of the invention have been described for illustrative purposes. It should be understood that the invention may be implemented in other ways not specifically shown in the accompanying drawings.

[0072] Please see Figure 1In one feasible embodiment, this application provides a guidewire motion control system, including: a control panel 100, an interventional robot 200, and a magnetic control device 300.

[0073] The control panel 100 is the master end, and the interventional robot 200 and the magnetic control device 300 are the slave ends. The operator uses the control panel 100 to control the interventional robot 200 to deliver the guidewire 500 to the lesion site within the target vessel 400, and uses the magnetic control device 300 to control the movement direction of the guidewire tip. The guidewire 500 is pre-magnetized. Exemplarily, the magnetization of the guidewire can be done entirely or partially; for example, only the tip of the guidewire can be magnetized to allow the operator to control the movement direction of the guidewire tip.

[0074] The interventional robot 200 includes: a first control module, a first monitoring module, a first processing module, a first communication module, a first display module, and a first safety protection module.

[0075] The first control module is used to receive and execute the operation instructions of the control panel 100, so that the operator can control the interventional robot 200 at the slave end from the main control panel 100, thereby realizing the forward / backward movement of the guidewire in the blood vessel and changing its direction.

[0076] The first monitoring module is used to acquire guidewire movement information within the blood vessel and first device operation information of the interventional robot 200, and transmit these to the first processing module. The guidewire movement information includes force information, interventional images, and length information. The first device operation information includes the operating speed and operating current of the interventional robot 200. The first monitoring module includes a force feedback unit, a length monitoring unit, and a circuit monitoring unit. The force feedback unit acquires force information of the guidewire within the body; the length monitoring unit acquires the length information of the guidewire within the body; and the circuit monitoring unit acquires the first device operation information.

[0077] The first processing module processes guidewire movement information and first device operation information, and determines a guidewire movement strategy based on the processed guidewire movement information and first device operation information. For example, the first processing module processes the guidewire movement information, including: determining the force value of the guidewire within the body based on force information; analyzing the deformation data of the guidewire tip based on the interventional image and calculating the force storage value of the tip based on the deformation data, as well as the distance data between the tip and the detection object, where the distance data includes any one or more of the following: a first distance between the tip and the blood vessel wall, a second distance between the tip and the lesion tissue, and a third distance between the tip and the bifurcation. The processed guidewire movement information and the processed first device operation information are compared with preset thresholds, and a movement strategy is determined based on the comparison results. For example, the preset thresholds can be set to multiple levels, such as a normal range, a warning range, and a danger range. A corresponding movement strategy is determined based on the different ranges to which the values ​​of each parameter belong. It should be noted that the above-mentioned guidewire movement strategy can be generated in real time based on the comparison results, or it can be pre-set and executed when the comparison results reach the trigger conditions.

[0078] The first communication module is used to communicate with the control console 100. This communication module can be any one or more of the following communication methods: TCP / IP, EtherCat, CANOpen, Bluetooth, and 5G.

[0079] The first display module displays processed guidewire movement information, first device operation information, and motion strategy for the operator to view. Furthermore, the first display module includes indicator lights of different colors or voice prompts. Further, when the guidewire movement information includes interventional images, the first display module can also display real-time images of the guidewire within the blood vessel, or a processed animated model, allowing the operator to monitor the guidewire's position within the blood vessel in real time. For example, the first display module can be a display screen.

[0080] The first security protection module has two protection modes: active protection mode and automatic protection mode.

[0081] The active protection method involves displaying the processed guidewire operation information and the first device operation information through the first display module, allowing the operator to view and operate the intervention robot 200 based on the guidewire operation information and the first device operation information.

[0082] The automatic protection method involves feeding back the motion strategy determined by the first processing module to the operator. Based on this motion strategy, the operator controls the guidewire to move forward or backward via the intervention robot 200. Simultaneously, with the operator's permission, when the guidewire's operating information or the first device's operating information exceeds a preset threshold range, the corresponding motion strategy can be automatically executed first, such as reducing the guidewire's operating speed or retracting a preset distance, and then waiting for further instructions from the operator.

[0083] In addition, the data that the intervention robot 200 needs to process can be stored in a data storage module, which can be integrated into the server of the intervention robot 200, or placed in the cloud or other network servers.

[0084] The magnetic control device 300 includes a magnetic field generating unit 310, which generates a strong magnetic field required for interventional surgery. It should be noted that in this embodiment, the magnetic field generating unit 310 is located at the end of the robotic arm 210 of the interventional robot 200. The direction of the magnetic field can be changed by altering the position of the end of the robotic arm 210. In practical applications, a control lever or button can also be used to adjust the direction of the magnetic field, thereby enabling navigation and manipulation of magnetic components.

[0085] The magnetic control device 300 also includes a second monitoring module, a second processing module, a second communication module, and a second safety protection module.

[0086] The second monitoring module is used to acquire the second device operation information of the magnetic control device 300 and transmit it to the second processing module. The second device operation information includes the placement position, force, operating speed, operating current of the magnetic control device 300, and the distance between the magnetic control device 300 and the target object.

[0087] The second processing module is used to process the second device operation information and determine the guidewire movement strategy based on the processed second device operation information. For example, the second processing module processes the second device operation information, including: obtaining the placement position of the magnetic control device 300 based on position information fed back by the magnetic field positioning system; obtaining the distance between the magnetic control device 300 and the target object based on the interventional image; and obtaining the force on the magnetic control device 300 based on data fed back by the force sensor.

[0088] The second communication module is used to communicate with the control console 100. This communication module can be any one or more of the following communication methods: TCP / IP, EtherCat, CANOpen, Bluetooth, and 5G.

[0089] The second display module is used to display the processed operating information of the second device, as well as the motion strategy, for the operator to view.

[0090] The second security protection module has two protection modes: active protection mode and automatic protection mode.

[0091] The active protection method involves displaying the processed operating information of the second device through the second display module, allowing the operator to view and, based on the processed operating information, adjust the magnetic field to control the rotation direction of the guidewire tip and the position of the magnetic control device 300.

[0092] The automatic protection method involves feeding back the motion strategy determined by the second processing module to the operator. Based on this motion strategy, the operator controls the magnetic field changes, position, and operating speed of the magnetic control device 300. Simultaneously, with the operator's permission, if the operating information of the second device exceeds a preset threshold range, the corresponding motion strategy can be automatically executed first, such as reducing the operating speed of the magnetic control device 300 or pausing its operation, and then awaiting further instructions from the operator.

[0093] It should be understood that, for the operator's convenience, the second display module in this embodiment can share a display screen with the first display module. Furthermore, during interventional surgery, the aforementioned guidewire operation information, first device operation information, and second device operation information can be monitored by any one or more as needed. When multiple pieces of information are monitored simultaneously, if the value of any one of them exceeds a preset threshold, the corresponding motion strategy is executed; if the values ​​of multiple pieces of information simultaneously exceed the preset threshold, the order of execution of the motion strategies can be determined according to a pre-set priority.

[0094] Please see Figure 2 For example, the magnetic control device 300 includes two magnetic field generating units 310, which are respectively disposed at the ends of the two robotic arms 210 of the interventional robot 200. The two magnetic field generating units 310 have opposite polarities to form a uniform magnetic field. The interventional robot 200 communicates with the control panel 100 at the main end through a first communication module, so that the operator can control the movement of the guidewire in the blood vessel of the target object on the control panel 100. At the same time, when the tip of the guidewire is in a uniform magnetic field, the operator can change the magnetic field by changing the position of the end of the robotic arm 210, thereby controlling the change of the magnetic field.

[0095] Please see Figure 3 For example, the magnetic control device 300 may also include a magnetic field generating unit 310, which is disposed at the end of the robotic arm 210. The magnetic field can be changed by changing the position of the end of the robotic arm 210, thereby controlling the change of the magnetic field.

[0096] Please see Figure 4For example, the magnetic control device 300 may also include two magnetic field generating units 310, each magnetic field generating unit 310 being disposed at the end of a robotic arm 210. The two magnetic field generating units 310 have opposite polarities to form a uniform magnetic field. The magnetic field can be changed by changing the position of the end of the robotic arm 210, thereby controlling the change of the magnetic field.

[0097] It should be understood that the installation method of the above magnetic field generating unit 310 is only an example. In actual applications, any one of the three examples can be selected as needed, or a specific installation position can be designed by oneself as needed.

[0098] In one feasible embodiment, this application provides a guidewire motion control method, which is hereinafter applied to... Figure 1 The guidewire motion control system in the example will be used for illustration.

[0099] Please see Figure 5 , Figure 5 This is a flowchart illustrating a guidewire motion control method according to this embodiment, which specifically includes the following steps:

[0100] Step S502: Obtain an interventional image of the guidewire within the target blood vessel.

[0101] Specifically, current cardiovascular and peripheral vascular interventional surgeries are usually performed by an operator using a control panel 100 to operate an interventional robot 200. This robot introduces specialized catheters, guidewires, and other precision instruments into the body. The drive motor of the interventional robot 200 performs propulsion and retraction actions to guide the movement of the guidewire in the patient's blood vessels and deliver the guidewire to the lesion site for diagnosis and treatment of the diseased area.

[0102] The interventional image in this embodiment is a DSA image (Digital Subtraction Angiography). It should be understood that DSA is an interventional vascular imaging technique that uses digital X-ray imaging equipment to observe and evaluate the vascular system. Before performing DSA, a contrast agent is inserted into the vascular system of the target object, and X-ray equipment is used for continuous imaging, which can form a series of images showing the distribution of the contrast agent in the blood vessels. Finally, the multiple images are processed and enhanced to obtain the interventional image in this embodiment.

[0103] Step S504: Analyze the interventional image to obtain the deformation data of the guidewire tip in the blood vessel. Calculate the energy storage value of the tip based on the deformation data and determine the guidewire movement strategy based on the energy storage value.

[0104] Specifically, by analyzing interventional images, deformation data of the guidewire tip during its movement within the blood vessel can be obtained. Analyzing this deformation data reveals the guidewire's current position and deformation status within the vessel. It should be understood that the frequency of acquiring deformation data can be set as needed. For example, initially, it can be set to acquire data once per second; when the guidewire approaches the object to be identified, this can be increased to 0.5 seconds; and when the operator completes the diagnosis and treatment and the guidewire moves away from the object, it returns to once per second. There are multiple ways to obtain deformation data from interventional images, and this embodiment does not specifically limit them. For example, a training set can be established using historical deformation data, a recognition model can be trained based on the training set, and then the deformation status of the tip can be confirmed using the recognition model; or, based on historical deformation data, the interventional image can be segmented to separate the deformation area of ​​the tip, the tip itself, and the vessel wall, and then deformation data can be calculated based on the segmented area.

[0105] The stored force is the rebound force generated by the guidewire tip when it moves within the blood vessel due to the force applied. If the stored force is too large, it will cause the tip to rebound and damage the blood vessel. The guidewire movement strategy should be determined according to the size of the stored force to ensure that the force value is within a safe range during release and to ensure that the release action is performed safely.

[0106] The motion strategy is determined based on the detected data, providing the operator with operational guidance to more precisely control the guidewire's forward, backward, or rotational direction within the blood vessel, thereby improving the safety of interventional procedures. For example, when the detected data is within the normal range, the guidewire movement continues to be controlled according to the operator's instructions; the indicator light is green. When the detected data is within the warning range, the indicator light turns yellow, the guidewire's movement speed is reduced, and the interventional robot 200 enters a low-speed operation mode. This low-speed operation mode operates at half, but is not limited to, the normal operating speed. When the detected data is within the danger range, the indicator light turns red, and certain safety protection measures are implemented. Specific safety protection measures will be described in detail below.

[0107] Step S506: Feedback the motion strategy to the operator of the guidewire to instruct the operator to control the guidewire to move forward or backward through the intervention robot 200, and / or to control the rotation direction of the tip of the guidewire through the magnetic control device 300 located outside the target object; wherein the guidewire has been pre-magnetized.

[0108] Specifically, after the tip of the guidewire is magnetized, the rotation direction of the tip can be controlled by changing the position of the magnetic field.

[0109] It should be understood that the first display module of the interventional robot 200 can be used to display the interventional image of the guidewire within the blood vessel. By observing the interventional image and making subjective judgments, the operator can refer to the motion strategy determined by the first processing module based on real-time deformation data to complete the operation of the guidewire, further improving the safety of the surgery. In addition, with the operator's permission, when the stored force value exceeds a preset threshold, the interventional robot 200 can automatically execute a motion strategy, such as reducing the guidewire's running speed or retreating a preset distance, and then wait for further instructions from the operator.

[0110] The aforementioned guidewire motion control method pre-magnetizes the guidewire. After the guidewire is placed in the target patient's blood vessel, an interventional image of the guidewire within the target patient's blood vessel is acquired. The energy storage value at the tip is calculated based on the interventional image. The guidewire motion strategy is determined based on the energy storage value and fed back to the operator, instructing them to control the guidewire's forward or backward movement via the interventional robot 200 and / or control the tip's rotation direction via a magnetic control device 300 located outside the target patient's body. This application can monitor the parameters of the guidewire in real time, providing the operator with a reliable motion strategy. Based on this strategy, the operator can control the overall movement of the guidewire via the interventional robot 200 while simultaneously controlling the local movement of the tip via the magnetic control device 300, thereby improving the efficiency and safety of interventional surgery.

[0111] Please see Figure 6 Optionally, the interventional images are analyzed to obtain deformation data of the guidewire tip within the blood vessel. Based on the deformation data, the charge value of the tip is calculated, including:

[0112] Step S602: Mark multiple contact points between the tip and the blood vessel in the interventional image;

[0113] Step S604: Calculate the curvature of the guidewire based on each contact point;

[0114] Step S606: Calculate the bending moment at the tip based on the cantilever beam model and bending curvature;

[0115] Step S608: Based on the bending moment and the angle between the tip and the blood vessel in the vertical or horizontal direction, the energy storage value is obtained.

[0116] Specifically, by analyzing interventional images, the contact between the guidewire and the blood vessel wall is assessed to determine whether the guidewire deformation is sufficient to generate force. If force is generated, the interventional robot 200 or the magnetic control device 300 is used to reduce or eliminate the force. By setting an appropriate force value, the value at the time of tip release can be kept within a safe range, ensuring a safe release operation. Simultaneously, when the force is within a reasonable range, the magnetic control device 300 is used to fix the guidewire tip, preventing guidewire movement during release, which could reduce release efficiency or cause release failure.

[0117] Please see Figure 7 After the guidewire 500 is inserted into the blood vessel 400, the tip of the guidewire 500 deforms due to resistance within the vessel. Contact points A and C are the points of contact between the deformed tip and the vessel wall in the interventional image. The force accumulated at this point may be dangerous. Take a point B at the bend in AC, and connect points A, B, and C to form a triangle. Let the lengths of the three sides of the triangle be a, b, and c. Then the curvature at this point is:

[0118]

[0119] When the guidewire tip is subjected to a force, it can be simplified as a cantilever beam model, and its deformation formula is:

[0120]

[0121] Where M is the bending moment experienced at the tip, which is generated by either the vertical (X-axis) or horizontal (Y-axis) component, and is expressed as follows: or Let L be the length of the guidewire tip, E be the elastic modulus, and I be the moment of inertia. Then, the force exerted on the vessel wall at this point... The expression is:

[0122]

[0123] in, For the guidewire tip and The included angle.

[0124] The force value of the blood vessel wall at this time is taken as the force value stored at the tip of the guidewire.

[0125] Optionally, the guidewire movement strategy is determined based on the energy storage value, including:

[0126] When the power storage value is greater than or equal to the preset power storage value, the interventional robot 200 is controlled to reduce its operating speed and retreat a first preset distance so that the tip is away from the blood vessel wall of the target object.

[0127] When the stored energy value decreases to less than or equal to the safe stored energy value, the magnetic field change of the control magnetic control device 300 is fixed at the tip to reduce the amplitude of the action when the tip is released.

[0128] Specifically, the preset energy storage value and the safety energy storage value can be set in advance based on experience. When the energy storage value is greater than or equal to the preset energy storage value, the interventional robot 200 is controlled to reduce its operating speed and retreat a first preset distance to move the tip away from the target vessel wall. Since the rebound vibration at the moment the tip completely leaves the vessel wall can damage it, this embodiment also sets a safety energy storage value. When the energy storage value is detected to decrease to less than or equal to the safety energy storage value, the magnetic field of the magnetic control device 300 is controlled to fix the tip, thereby reducing the amplitude of the tip release. It should be understood that reducing the operating speed of the interventional robot 200 here means reducing the forward or backward speed of the guidewire within the blood vessel.

[0129] In the above embodiments, by analyzing the interventional image of the target object, the energy storage value of the guidewire tip is calculated, and the motion strategy of the guidewire is determined based on the energy storage value. This allows the operator to control the overall movement of the guidewire through the interventional robot 200, while also controlling the local movement of the tip through the magnetic control device 300, thereby avoiding damage to the blood vessel caused by the rebound of the guidewire tip and improving the efficiency and safety of the interventional surgery.

[0130] Please see Figure 8 In one feasible embodiment, the guidewire motion control method provided in this application further includes:

[0131] Step S802: Obtain force information from the force feedback unit set in the interventional robot 200, and calculate the force value of the tip in the blood vessel based on the force information.

[0132] Step S804: Determine the motion strategy of the guidewire based on the force value.

[0133] Specifically, the force feedback unit in this embodiment can be a sensor, through which real-time force information can be directly obtained. For example, the force feedback unit can also be a strain gauge, through which the deformation of the strain gauge can be obtained, and then real-time force information can be calculated based on the deformation.

[0134] Please see Figure 9 Optionally, the force value of the tip within the blood vessel is calculated based on the force information, including:

[0135] When the guidewire forms a contact point with the blood vessel wall, the real-time force value monitored by the external sensor and the resistance value encountered by the guidewire when entering the sheath are obtained from the force feedback unit; based on the real-time force value and the resistance value encountered by the guidewire when entering the sheath, the force applied by the interventional robot 200 to the tip is calculated; based on the applied force and the first included angle, the force value of the tip in the blood vessel is determined; wherein, the first included angle is the angle between the guidewire at a contact point and the vertical direction.

[0136] Specifically, the real-time force value monitored by the external sensor is recorded. The resistance encountered by the guidewire when it enters the sheath is... The first included angle is Then apply force The expression is:

[0137]

[0138] Force value of the tip inside the blood vessel The expression is:

[0139]

[0140] At this point, the force exerted on the tip within the blood vessel is the force exerted on the vessel wall in the vertical direction.

[0141] Please see Figure 10 When the guidewire forms multiple contact points with the vessel wall, the first force is calculated based on the applied force and the second angle. The first force is the sum of the forces on the vessel wall at each contact point in the vertical direction, and the second angle is the angle between the guidewire at the first contact point and the vertical direction. Based on the first force and the third angle, the second force on the vessel wall at the last contact point in the vertical direction is calculated, and the second force is recorded as the force value of the tip inside the vessel. The third angle is the angle between the tangential plane of the guidewire contacting the vessel wall and the horizontal direction.

[0142] Specifically, Figure 10 The diagram shows a guidewire within a blood vessel with two contact points. The following explanation uses two contact points as an example. Generally, when the guidewire has multiple contact points with the blood vessel, the blood vessel wall experiences stress. The components are multiple, and the forces at each contact point satisfy the following formula:

[0143]

[0144]

[0145] in, This is the vertical component of the force on the blood vessel wall, and its value is the sum of the forces on the blood vessel wall at each contact point in the vertical direction. This is the horizontal component of the force on the blood vessel wall, and its value is the sum of the horizontal forces on the blood vessel wall at each contact point. The angle between the guidewire at the first contact point and the vertical direction;

[0146] For each contact point, the forces acting on the corresponding blood vessel wall in the vertical and horizontal directions are proportional, and this proportionality is related to the coefficient of friction of the guidewire within the blood vessel. For example, for contact points A and B, the following formula applies:

[0147]

[0148]

[0149] in, The friction coefficient of the guidewire within the blood vessel can be an empirical value or set according to each individual's physical condition.

[0150] Furthermore, for the last contact point B, let the third included angle be... Then the force on the blood vessel wall corresponding to the last contact point in the vertical direction is... The expression is:

[0151]

[0152]

[0153] Correspondingly, the force on the blood vessel wall at the last contact point in the horizontal direction The expression is:

[0154]

[0155]

[0156] Because the tip of the guidewire causes greater damage to the blood vessel, this embodiment focuses more on the vertical force on the blood vessel wall corresponding to the last contact point. and the calculated This represents the force exerted on the tip within the blood vessel.

[0157] The force analysis when there are multiple contact points is the same as the above scheme, and will not be repeated here to save space.

[0158] Optionally, the guidewire movement strategy is determined based on the force value, including:

[0159] When the force value is greater than or equal to the first preset force value and less than or equal to the second preset force value, the interventional robot 200 is controlled to reduce its running speed, and at the same time the magnetic field of the magnetic control device 300 is controlled to change the direction of the tip so that the tip is moved away from the blood vessel wall of the target object.

[0160] When the force information is greater than the second preset force value, the interventional robot 200 is controlled to reduce its running speed and retreat a second preset distance so that the tip is away from the blood vessel wall of the target object.

[0161] Specifically, when the force on the tip is less than the first preset force value, it is considered to be in a safe state, and the guidewire is operating normally in the blood vessel. When the force is greater than or equal to the first preset force value and less than or equal to the second preset force value, it is considered that the tip may be close to the blood vessel wall. By changing the direction of the tip, the movement direction of the guidewire can be adjusted within a small range. When the force is greater than or equal to the second preset force value, it is considered that the tip may contact the blood vessel wall. At this time, the interventional robot 200 should be controlled to retreat a certain distance to move away from the blood vessel wall and avoid causing harm to the patient.

[0162] For example, the second preset distance is calculated using admittance control based on a second preset force value. Let the current force value at the tip be Fr, and the second preset force value be F... 阈值 The second preset distance is D back Then when Fr > F 阈值 At that time, D back =(Fr-F 阈值 ) / (ms 2 The formula is: m + bs + k), where m is the inertial parameter, b is the damping parameter, k is the stiffness parameter, and s is the Laplace operator. Using this method, a highly accurate backtracking distance value can be obtained.

[0163] In another feasible example, the second preset distance can also be set to a fixed value, which can be preset according to the patient's specific condition. In yet another feasible example, the second preset distance can also be set to multiple levels of different values ​​based on the current force value; for example, when Fr=F1, D can be set... back =D 11 When Fr=F2, set D back =D 12 Where F2 > F1, and correspondingly, D 12 >D 11 .

[0164] It should be noted that during the guidewire's movement within the blood vessel, the motion strategy can be determined based on either the stored force value or the applied force value. Furthermore, if both the stored force value and the applied force value exceed the allowable range, a priority can be preset to determine the motion strategy to be executed. For example, in this embodiment, it is considered that an excessively large stored force value causes greater damage to the blood vessel; therefore, the priority of the stored force value is set higher than the priority of the applied force value, meaning the motion strategy corresponding to the stored force value is executed first. In practical applications, depending on the needs of the interventional procedure, the priority of the applied force value can also be set higher than the stored force value, and the motion strategy corresponding to the applied force value is executed first.

[0165] In the above embodiments, the force on the tip of the guidewire is monitored in real time. When the force on the tip is between the first preset force value and the second preset force value, the running speed of the guidewire is reduced, and the direction of the tip is adjusted by controlling the direction of the magnetic field to adjust the running direction of the guidewire within a small range. When the force on the tip is greater than the second preset force value, the running speed of the guidewire is reduced, and the interventional robot 200 is controlled to retreat a second preset distance to keep the tip away from the blood vessel wall of the target object, thus ensuring the safety of the interventional surgery.

[0166] Please see Figure 11 In one feasible embodiment, the guidewire motion control method provided in this application further includes:

[0167] Step S1102: Analyze the interventional image and obtain distance data, wherein the distance data includes any one or more of the following: a first distance between the tip and the vessel wall, a second distance between the tip and the lesion tissue, and a third distance between the tip and the bifurcation.

[0168] Step S1104: Determine the guidewire movement strategy based on the distance data. Step S1104 follows the determination of the guidewire movement strategy based on the energy storage value.

[0169] Optionally, the guidewire movement strategy is determined based on distance data, including:

[0170] When the first distance is less than or equal to the preset safety distance, the interventional robot 200 is controlled to reduce its operating speed and retreat a third preset distance so that the tip is away from the blood vessel wall of the target object.

[0171] Alternatively, when the second distance is less than or equal to the preset lesion distance, the interventional robot 200 is controlled to reduce its operating speed;

[0172] Alternatively, when the third distance is less than or equal to the preset turning distance, the control intervention robot 200 reduces its running speed, and at the same time controls the magnetic field change of the magnetic control device 300 to change the direction of the tip so that the guide wire enters the bifurcation.

[0173] Specifically, when the guidewire moves within the blood vessel, it should be kept as close as possible to the vessel's centerline when advancing or retreating. By monitoring force information, deformation data, and distance data in real time, it can be determined whether the guidewire tip is too close to the vessel wall. If the tip is found to be too close to the vessel wall, its direction can be adjusted or it can be retreated a certain distance to move the tip away from the vessel wall, ensuring the safety of the interventional procedure. It should be noted that the values ​​of the first, second, and third preset retreat distances of the interventional robot 200 can be the same or different, and can be set as needed in practical applications.

[0174] Optionally, the interventional image is parsed to obtain a first distance, including:

[0175] The interventional image is analyzed to identify the vessel wall in the image, and the first distance between the guidewire tip and the vessel wall is calculated. The specific steps for calculating the first distance are similar to those for calculating deformation data from the interventional image in the above embodiment, and will not be repeated here for brevity.

[0176] For example, the value of the third preset distance can be set to a fixed value, which can be preset according to the specific situation of the patient. In another feasible example, the third preset distance can also be based on the first distance L. d The current size is set to different values ​​at multiple levels, for example, in L. d =L d1 At that time, the third preset distance is set to D. 21 ; in L d = L d 2 At that time, the third preset distance is set to D. 22 ; among which, L d 2 >L d1 Accordingly, D 22 >D 21 In the above embodiments, the first distance between the tip and the blood vessel wall is monitored in real time by analyzing the interventional images. When the first distance is less than or equal to a preset safety distance, the running speed of the guidewire is reduced, and the interventional robot 200 is controlled to retreat a third preset distance so that the tip is away from the blood vessel wall of the target object and is always kept on the center line of the blood vessel.

[0177] Optionally, the interventional image is parsed to obtain a second distance, including:

[0178] The interventional images are analyzed to identify lesions in the blood vessels and to calculate the second distance between the tip and the lesion.

[0179] The step of identifying lesion tissue based on interventional images and calculating the second distance is similar to the step of calculating deformation data and the first distance based on interventional images, and will not be described again here to save space.

[0180] For example, the current advance speed can be reduced to less than or equal to half of the normal advance speed of the guidewire to give the operator enough time to treat the lesion.

[0181] In the above embodiments, by analyzing the interventional images to monitor the second distance data between the tip and the lesion tissue in real time, when the second distance data is less than or equal to the preset lesion distance, the running speed of the guidewire is reduced so that the operator has enough time to treat the lesion, while also ensuring the safety of the interventional procedure.

[0182] Optionally, the interventional image is parsed to obtain a third distance, including:

[0183] Analyze interventional images, identify bifurcation points in blood vessels, and calculate the third distance between the tip and the bifurcation point.

[0184] The step of identifying lesion tissue based on interventional images and calculating the third distance is similar to the steps of calculating deformation data, the first distance and the second distance based on interventional images, as described above. To save space, it will not be repeated here.

[0185] To further explain, by analyzing the interventional images, each bifurcation can be identified, and the third distance between the current position of the guidewire and the bifurcation can be calculated. When the third distance is less than or equal to the preset turning distance, it is considered that the guidewire has reached the bifurcation area. At this time, the running speed of the interventional robot 200 is reduced, and the direction of the tip is changed by controlling the magnetic field change of the magnetic control device 300, so that the guidewire enters the bifurcation and goes to the lesion tissue area.

[0186] In the above embodiments, the third distance between the tip and the bifurcation is monitored in real time by analyzing the interventional images. When the third distance is less than or equal to the preset turning distance, the running speed of the guidewire is reduced, and the rotation direction of the tip is adjusted so that the guidewire enters the bifurcation and heads to the lesion tissue area, thereby improving the efficiency of the interventional surgery.

[0187] It should be noted that this embodiment specifies the guidewire movement strategy based on distance data, following the strategy based on the charge value. This order is merely an example; in actual interventional surgery, any one of the charge value, force value, and distance data can be selected to determine the guidewire movement strategy as needed. Furthermore, if the charge value, force value, and distance data all exceed the allowable range simultaneously, priorities can be preset to determine the movement strategy to be executed. For example, if the charge value has the highest priority, followed by the force value, and then the distance data has the lowest priority, and the first, second, and third distances in the distance data have equal priorities, then the movement strategy corresponding to the charge value is executed first.

[0188] Please see Figure 12 In one feasible embodiment, the guidewire motion control method provided in this application further includes:

[0189] Step S1202: Obtain the length data of the guidewire within the target body from the intervention robot 200.

[0190] Step S1204: Determine the motion strategy of the guidewire based on the length data.

[0191] Optionally, the guidewire movement strategy is determined based on the length data, including:

[0192] When the length data is greater than or equal to the preset length value, the control intervention robot 200 reduces its running speed and retreats a fourth preset distance.

[0193] Specifically, since interventional surgery involves the operator controlling the external guidewire to influence the movement of the internal guidewire, if the guidewire is inserted too far into the body, it may become unreliable to control it, affecting the safety of the interventional surgery. In this case, the interventional robot 200 should be controlled to retreat a certain distance to ensure that the guidewire is under reliable control.

[0194] For example, the fourth preset distance can be set to a fixed value, which can be preset according to the patient's specific situation. In another feasible example, the fourth preset distance can also be based on length data L. r The current size is set to different values ​​at multiple levels, for example, in L. r =L r1 At that time, the fourth preset distance is set to D. 31 ; in L r =L r2 At that time, the fourth preset distance is set to D. 32 ; among which, L r2 >L r1 Accordingly, D 32 >D 31 .

[0195] In the above embodiments, the length data of the guidewire in the body is monitored in real time. When the length data is greater than or equal to the preset length value, the running speed of the guidewire is reduced, and the interventional robot 200 is controlled to retreat a fourth preset distance so that the operation of the guidewire is under reliable control, while also ensuring the safety of the interventional surgery.

[0196] Please see Figure 13 In one feasible embodiment, the guidewire motion control method provided in this application further includes:

[0197] Step S1302: Obtain the first device operation information when the intervention robot 200 is running.

[0198] Step S1304: Determine the motion strategy of the guidewire based on the operating information of the first device.

[0199] Optionally, the motion strategy of the guidewire is determined based on the first device operation information, including: stopping the operation of the intervention robot 200 and the magnetic control device 300 when the first device operation information exceeds the range of the first preset safety threshold.

[0200] Please see Figure 14 In one feasible embodiment, the guidewire motion control method provided in this application further includes:

[0201] Step S1402: Obtain the second device operation information when the magnetic control device 300 is running.

[0202] Step S1404: Determine the motion strategy of the guidewire based on the operating information of the second device.

[0203] Optionally, the guidewire movement strategy is determined based on the second device operation information, including: stopping the operation of the intervention robot 200 and the magnetic control device 300 when the second device operation information exceeds the range of a second preset safety threshold. Specifically, the first device operation information includes the operating speed and operating current of the first intervention robot 200; the second device operation information includes the placement position, force, operating speed, operating current, and distance between the magnetic control device 300 and the target object.

[0204] The operating speed of the interventional robot 200 is the speed at which the interventional robot 200 drives the guidewire forward or backward within the blood vessel, and the operating current is the driving current of the drive motor of the interventional robot 200 when it is working. The operating speed of the magnetic control device 300 is the moving speed of the magnetic control device 300 during the interventional procedure, and the operating current is the working current of the magnetic control device 300 when it is working. By analyzing the above operating speed and operating current, it is possible to determine whether the interventional robot 200 is malfunctioning during the guidewire driving process, and whether the magnetic control device 300 is malfunctioning during the provision of the magnetic field.

[0205] Interventional imaging can determine the approximate location of the lesion, thereby roughly determining the placement range of the magnetic control device 300 during the interventional procedure. If the placement of the magnetic control device 300 exceeds the predetermined range, it is considered that the magnetic control device 300's control over the tip has decreased. The force exerted on the magnetic control device 300 is used to confirm whether it has collided with the external environment. The speed and current values ​​of the magnetic control device 300 are used to determine if it is malfunctioning. The distance between the magnetic control device 300 and the target object is used to confirm whether the magnetic control device 300 is within a safe distance from the human body. To ensure safety, if any of the above situations occur, the operation of the interventional robot 200 and the magnetic control device 300 should be stopped immediately, and the operation should be restarted only after confirmation by the operator.

[0206] In the above embodiments, while monitoring the movement of the guidewire in the blood vessel, the interventional robot 200 and the magnetic control device 300 are also monitored, reducing the impact of external equipment failure on the interventional surgery and thus further improving the safety of the interventional surgery.

[0207] It should be noted that in actual interventional surgery, the guidewire movement strategy can be determined by selecting any one of the following: power storage value, force value, distance data, length data, first device operation information, and second device operation information. Furthermore, if the power storage value, force value, distance data, length data, first device operation information, and second device operation information all exceed the allowable range simultaneously, a priority can be preset to determine the movement strategy to be executed. For example, the first device operation information and the second device operation information are set to have the highest priority. If either the first device operation information or the second device operation information exceeds the allowable range, it is considered that a device malfunction has occurred in the interventional robot 200 and the magnetic control device 300. In this case, the device operation should be stopped immediately to ensure surgical safety.

[0208] In order to enable those skilled in the art to fully understand this application, the steps of the guidewire motion control method of this application are described in detail below:

[0209] Before the interventional procedure, the guidewire was pre-magnetized. Simultaneously, based on the surgical needs, the guidewire movement information to be monitored during the procedure, as well as the corresponding preset movement thresholds for each piece of information, were pre-set. During the interventional procedure, if any of the guidewire movement information exceeded the preset movement threshold, the guidewire's speed was reduced, and a guidewire movement strategy was determined for the operator to review. With the operator's permission, when the guidewire movement information exceeded the preset movement threshold, the movement strategy could be automatically executed first, such as reducing the guidewire's speed or retracting a preset distance. After execution, the system awaited further instructions from the operator.

[0210] Furthermore, based on surgical needs, the operational information of the devices to be monitored during the operation, as well as preset safety thresholds, can be pre-set. The device operational information includes first device operational information and second device operational information, and the preset safety thresholds include a first preset safety threshold and a second preset safety threshold. The first device operational information includes the operating speed and operating current of the interventional robot 200, and the second device operational information includes the placement position, force, operating speed, operating current, and distance between the magnetic control device 300 and the target object. When any data in the device operational information exceeds the preset safety threshold, the interventional robot 200 and the magnetic control device 300 will stop operating.

[0211] The guidewire operation information includes interventional images, and the preset operation thresholds include a preset charge value and a safe charge value. Deformation data is obtained by analyzing the interventional images, and the charge value of the tip is determined based on this data. When the charge value is greater than or equal to the preset charge value, the interventional robot 200 is controlled to reduce its operating speed and retreat a first preset distance to move the tip away from the target vessel wall. When the charge value decreases to less than or equal to the safe charge value, the magnetic field of the magnetic control device 300 is controlled to fix the tip, thereby reducing the amplitude of the tip release.

[0212] The guidewire operation information also includes the force information of the tip, and the preset operation thresholds include a first preset force value and a second preset force value. The force value of the tip within the blood vessel is calculated based on the force information. When the force value is greater than or equal to the first preset force value and less than or equal to the second preset force value, the interventional robot 200 is controlled to reduce its operating speed, and simultaneously, the magnetic field of the magnetic control device 300 is controlled to change the direction of the tip, so that the tip is moved away from the blood vessel wall of the target object; when the force information is greater than the second preset force value, the interventional robot 200 is controlled to reduce its operating speed and retreat a second preset distance, so that the tip is moved away from the blood vessel wall of the target object.

[0213] The preset operating threshold also includes a preset safety distance. The first distance is obtained by analyzing the interventional image. When the first distance is less than or equal to the preset safety distance, the interventional robot 200 is controlled to reduce its operating speed and retreat a third preset distance, so that the tip is moved away from the blood vessel wall of the target object.

[0214] The preset operating thresholds also include a preset lesion distance. The interventional image is analyzed to identify lesions in the blood vessel, and a second distance between the tip and the lesion is calculated based on the lesion. When the second distance is less than or equal to the preset lesion distance, the interventional robot 200 is controlled to reduce its operating speed.

[0215] The preset operating threshold also includes a preset turning distance. Interventional images are analyzed to identify bifurcation points in the blood vessel, and a third distance between the guidewire and the bifurcation point is calculated. When the third distance is less than or equal to the preset turning distance, the interventional robot 200 is controlled to reduce its operating speed, while the magnetic field of the magnetic control device 300 is changed to alter the direction of the guidewire, allowing it to enter the bifurcation point.

[0216] The guidewire operation information also includes the guidewire length within the body, and the preset operation threshold includes a preset length value. When the length data is greater than or equal to the preset length value, the interventional robot 200 is controlled to reduce its operating speed and retreat a fourth preset distance.

[0217] The aforementioned guidewire motion control method pre-magnetizes the guidewire. After the guidewire is placed in the target patient's blood vessel, an interventional image of the guidewire within the target patient's blood vessel is acquired. The energy storage value at the tip is calculated based on the interventional image. The guidewire motion strategy is determined based on the energy storage value and fed back to the operator, instructing them to control the guidewire's forward or backward movement via the interventional robot 200 and / or control the tip's rotation direction via a magnetic control device 300 located outside the target patient's body. This application can monitor the parameters of the guidewire in real time, providing the operator with a reliable motion strategy. Based on this strategy, the operator can control the overall movement of the guidewire via the interventional robot 200 while simultaneously controlling the local movement of the tip via the magnetic control device 300, thereby improving the efficiency and safety of interventional surgery.

[0218] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0219] In one feasible embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the method steps in the above-described guidewire motion control method.

[0220] In one feasible embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, implements the method steps in the above-described guidewire motion control method.

[0221] In one feasible embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the method steps in the guidewire motion control method described above.

[0222] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0223] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A computer device, characterized in that, It includes a memory and a processor. The memory stores computer programs, and when the processor executes the computer programs, it performs the following steps: Acquire interventional images of the guidewire within the target blood vessel; The interventional image is analyzed to obtain deformation data of the guidewire tip within the blood vessel, and the energy storage value of the tip is calculated based on the deformation data. The process of analyzing the interventional image to obtain deformation data of the guidewire tip within the blood vessel, and calculating the storage value of the tip based on the deformation data, includes: marking multiple contact points between the tip and the blood vessel in the interventional image; calculating the curvature of the guidewire based on each contact point; calculating the bending moment on the tip based on the cantilever beam model and the curvature; and obtaining the storage value based on the bending moment and the angle between the tip and the blood vessel. The motion strategy of the guidewire is determined based on the stored energy value; the determination of the motion strategy of the guidewire based on the stored energy value includes: when the stored energy value is greater than or equal to a preset stored energy value, controlling the interventional robot to reduce its operating speed and retreat a first preset distance, so that the tip is away from the blood vessel wall of the target object; when the stored energy value is reduced to less than or equal to a safe stored energy value, controlling the magnetic field change of the magnetic control device to fix the tip, so as to reduce the amplitude of the movement when the tip is released; The motion strategy is fed back to the operator of the guidewire to instruct the operator to control the guidewire to move forward or backward via an interventional robot, and / or to control the rotation direction of the tip of the guidewire via a magnetic control device located outside the target object. The guide wire was pre-magnetized.

2. The computer device according to claim 1, characterized in that, The processor is also used for: Force information is obtained from the force feedback unit installed on the interventional robot, and the force value of the tip in the blood vessel is calculated based on the force information; Determining the motion strategy of the guidewire based on the force value includes: When the force value is greater than or equal to the first preset force value and less than or equal to the second preset force value, the interventional robot is controlled to reduce its running speed, and at the same time, the magnetic field of the magnetic control device is controlled to change the direction of the tip so that the tip is moved away from the blood vessel wall of the target object. When the force information is greater than the second preset force value, the interventional robot is controlled to reduce its running speed and retreat a second preset distance so that the tip is away from the blood vessel wall of the target object.

3. The computer device according to claim 2, characterized in that, When the guidewire forms a contact point with the vessel wall, the step of obtaining force information from the force feedback unit installed in the interventional robot and calculating the force value of the tip within the vessel based on the force information includes: The force feedback unit obtains the real-time force value monitored by the external sensor, as well as the resistance value encountered by the guidewire when it enters the sheath. Based on the real-time force value and the resistance value encountered by the guidewire when it enters the sheath, the force applied to the tip by the interventional robot is calculated. The force value of the tip within the blood vessel is determined based on the applied force and the first included angle. Wherein, the first included angle is the angle between the guide wire at a contact point and the vertical direction.

4. The computer device according to claim 3, characterized in that, When the guidewire forms multiple contact points with the vessel wall, the step of obtaining force information from the force feedback unit disposed on the interventional robot and calculating the force value of the tip within the vessel based on the force information includes: The first force is calculated based on the applied force and the second angle; wherein the first force is the sum of the forces on the blood vessel wall at each contact point in the vertical direction, and the second angle is the angle between the guidewire at the first contact point and the vertical direction; Based on the first force and the third angle, calculate the second force on the blood vessel wall corresponding to the last contact point in the vertical direction, and record the second force as the force value of the tip in the blood vessel; wherein, the third angle is the angle between the tangential surface of the guidewire in contact with the blood vessel wall and the horizontal direction.

5. The computer device according to claim 1, characterized in that, The processor is further configured to: parse the interventional image and obtain distance data, wherein the distance data includes any one or more of the following: a first distance between the tip and the vessel wall of the blood vessel, a second distance between the tip and the lesion tissue, and a third distance between the tip and the bifurcation. After determining the motion strategy of the guidewire based on the energy storage value, the method further includes: The motion strategy of the guidewire is determined based on the distance data; The step of determining the motion strategy of the guidewire based on the distance data includes at least one of the following: When the first distance is less than or equal to a preset safety distance, the interventional robot is controlled to reduce its operating speed and retreat a third preset distance, so that the tip is away from the blood vessel wall of the target object; Alternatively, when the second distance is less than or equal to the preset lesion distance, the interventional robot is controlled to reduce its operating speed; Alternatively, when the third distance is less than or equal to the preset turning distance, the robot is controlled to reduce its running speed, and at the same time, the magnetic field of the magnetic control device is controlled to change the direction of the tip so that the guide wire enters the bifurcation.

6. The computer device according to claim 1, characterized in that, The processor is also configured to: acquire length data of the guidewire within the target body from the interventional robot, and determine the motion strategy of the guidewire based on the length data; The step of determining the motion strategy of the guidewire based on the length data includes: When the length data is greater than or equal to a preset length value, the robot is controlled to reduce its running speed and retreat a fourth preset distance.

7. The computer device according to claim 1, characterized in that, The processor is further configured to: acquire first device operation information during the operation of the interventional robot, and determine the motion strategy of the guidewire based on the first device operation information; wherein the first device operation information includes the operating speed and operating current of the interventional robot; Determining the motion strategy of the guidewire based on the operating information of the first device includes: When the operating information of the first device exceeds the range of the first preset safety threshold, the operation of the intervention robot and the magnetic control device shall be stopped.

8. The computer device according to claim 1, characterized in that, The processor is further configured to: acquire second device operation information during the operation of the magnetic control device, and determine the motion strategy of the guide wire based on the second device operation information; wherein, the second device operation information includes the placement position, force, operating speed, operating current of the magnetic control device, and the distance between the magnetic control device and the target object; Determining the motion strategy of the guidewire based on the operating information of the second device includes: When the operating information of the second device exceeds the range of the second preset safety threshold, the operation of the intervention robot and the magnetic control device shall be stopped.

9. A guidewire motion control system, characterized in that, The system includes: An interventional robot is used to acquire interventional images of a guidewire within a target blood vessel, analyze the images to obtain deformation data of the guidewire tip within the blood vessel, calculate the charge value of the tip based on the deformation data, determine a motion strategy for the guidewire based on the charge value, and feed the motion strategy back to the operator of the guidewire to instruct the operator to control the guidewire's forward or backward movement via the interventional robot, and / or control the rotation direction of the guidewire tip via a magnetic control device located outside the target body; wherein the guidewire is pre-magnetized, and the analysis of the interventional images, acquisition of deformation data of the guidewire tip within the blood vessel, and calculation of the charge value of the tip based on the deformation data include... The following steps are performed: marking multiple contact points between the tip and the blood vessel in the interventional image; calculating the curvature of the guidewire based on each contact point; calculating the bending moment on the tip based on the cantilever beam model and the curvature; obtaining the energy storage value based on the bending moment and the angle between the tip and the blood vessel; determining the motion strategy of the guidewire based on the energy storage value includes: when the energy storage value is greater than or equal to a preset energy storage value, controlling the interventional robot to reduce its operating speed and retreat a first preset distance to move the tip away from the blood vessel wall of the target object; when the energy storage value decreases to less than or equal to a safe energy storage value, controlling the magnetic field change of the magnetic control device to fix the tip to reduce the amplitude of the movement when the tip is released. A magnetic control device, disposed outside the target object, is used to provide a magnetic field; and A force feedback unit is used to obtain the force information of the guidewire in the blood vessel.

10. The system according to claim 9, characterized in that, The interventional robot includes: a first control module, a first monitoring module, a first processing module, a first communication module, a first display module, and a first safety protection module; The first control module is used to receive and execute the operation instructions of the control panel, so that the operator can control the intervention robot at the slave end from the main control panel, thereby realizing the forward or backward movement of the guidewire in the blood vessel and changing its direction. The first monitoring module is used to acquire guidewire movement information and first device operation information of the interventional robot, and transmit them to the first processing module. The first processing module is used to process guidewire running information and first device running information, and determine the guidewire movement strategy based on the processed guidewire running information and first device running information; The first communication module is used to communicate with the control panel; The first display module is used to display the processed guidewire operation information, the first device operation information, and the motion strategy for the operator to view; The first security protection module has two protection modes: active protection mode and automatic protection mode.

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