Magnetic control wire control method and magnetic intervention surgery system

Abstract

The application relates to a magnetic control guide wire control method and a magnetic control interventional operation system. The method comprises the following steps: acquiring shape information of an elongated rod; generating first control information according to the shape information and a coordinate system mapping relationship between the elongated rod and a magnetic control guide wire; and controlling the joint movement of a mechanical arm of a magnetic control robot according to the first control information, so that the magnetic control guide wire generates a deformation corresponding to the shape information. By adopting the method, a doctor can intuitively control the overall shape of the tip of the magnetic control guide wire by adjusting the shape of the elongated rod, the flexibility of the movement of the magnetic control guide wire is improved, the control efficiency of the magnetic control guide wire is improved, the operation difficulty of controlling the magnetic control guide wire is reduced, and the safety in the magnetic control guide wire control process is improved.

Description

Technical Field

[0001] This application relates to the field of computer technology, and in particular to a magnetically controlled guidewire control method and a magnetically controlled interventional surgical system. Background Technology

[0002] Vascular interventional robots are devices that assist doctors in performing interventional procedures. They can realize linear and rotational movements of guidewires / catheters (hereinafter referred to as guidewires). Through master-slave control, they reduce the damage to doctors caused by X-ray angiography during the operation. Through master-end force feedback control, they reproduce the force sensation of the doctor's hand during traditional interventional procedures.

[0003] Current interventional robots can deliver guidewires to the patient's lesion site. During the delivery of the guidewire inside the body, doctors can only control the external portion of the guidewire to influence the internal portion, and cannot control the direction of the guidewire tip already in the body. Magnetizing the guidewire tip can achieve control over its direction and position, but existing guidewire tip control methods are mostly 3D mice, trackballs, keyboards, joysticks, etc., which cannot provide doctors with intuitive control over the guidewire tip's position and posture, increasing the difficulty of operation. To avoid accidental contact with internal tissues, doctors need to carefully control the guidewire's movement, resulting in very low efficiency in controlling guidewire movement throughout the entire process. Summary of the Invention

[0004] Therefore, it is necessary to provide a magnetically controlled guidewire control method, a magnetically controlled interventional surgical system, a computer device, a computer-readable storage medium, and a computer program product that can improve the control efficiency of the magnetically controlled guidewire, in response to the above-mentioned technical problems.

[0005] In a first aspect, this application provides a magnetically controlled guide wire control method applied to a magnetically controlled robot control system. The system includes a shape-changing slender rod and a magnetically controlled robot. The end of the robot's robotic arm is equipped with a magnet, which generates a magnetic field vector that acts on a magnetically controlled guide wire placed in a target area. The method includes:

[0006] Obtain the morphological information of slender rods;

[0007] Based on the morphological information and the coordinate system mapping relationship between the slender rod and the magnetically controlled guide wire, the first control information is generated;

[0008] Based on the first control information, the movement of each joint of the robotic arm of the magnetically controlled robot is controlled so that the magnetically controlled guide wire produces a deformation corresponding to the shape information.

[0009] In one embodiment, the elongated rod is provided with at least one positioning component to acquire the shape information of the elongated rod, including:

[0010] Determine the principal end base coordinate system of the slender rod;

[0011] Obtain the position coordinates of each component in the master base coordinate system;

[0012] Based on the position coordinates of each component, obtain the shape information.

[0013] In one embodiment, based on the morphological information and the coordinate system mapping relationship between the elongated rod and the magnetically controlled guide wire, first control information is generated, including:

[0014] Based on the morphological information and the main end base coordinate system, determine the equation of the main end curve of the slender rod;

[0015] Based on the master end curve equation and the coordinate system mapping relationship between the slender rod and the magnetically controlled guide wire, the slave end curve equation is obtained; the slave end curve equation is used to characterize the target bending angle and target bending direction of the magnetically controlled guide wire.

[0016] The target magnetic field vector is obtained based on the curve equation at the end.

[0017] Based on the target magnetic field vector and the coordinate system mapping relationship between the magnetically controlled guide wire and the robotic arm of the magnetically controlled robot, the first control information is generated.

[0018] In one embodiment, the slave curve equation is obtained based on the master end curve equation and the coordinate system mapping relationship between the slender rod and the magnetically controlled guide wire, including:

[0019] The guide wire coordinate system of the magnetically controlled guide wire is determined based on the unmagnetized portion of the guide wire;

[0020] Based on the coordinate system mapping relationship between the slender rod and the magnetically controlled guide wire, the curve equation of the master end is mapped to the guide wire coordinate system to obtain the curve equation of the slave end.

[0021] In one embodiment, the system further includes a visual feedback device for displaying real-time images of the magnetically controlled guidewire in the target area, and the method for obtaining the coordinate system mapping relationship between the slender rod and the magnetically controlled guidewire includes:

[0022] Determine the visual base coordinate system of the visual feedback device;

[0023] Determine the slave base coordinate system of the magnetically controlled robot based on the location of its base.

[0024] When the magnetically controlled guidewire is in the target area, determine the guidewire coordinate system of the magnetically controlled guidewire;

[0025] Based on the first mapping relationship between the master base coordinate system and the visual base coordinate system, the second mapping relationship between the visual base coordinate system and the slave base coordinate system, and the third mapping relationship between the slave base coordinate system and the guide wire coordinate system, the coordinate system mapping relationship between the slender rod and the magnetically controlled guide wire is obtained.

[0026] In one embodiment, the method for obtaining the coordinate system mapping relationship between the magnetically controlled guide wire and the robotic arm of the magnetically controlled robot includes:

[0027] Determine the base coordinate system of the robotic arm of the magnetically controlled robot;

[0028] Based on the fourth mapping relationship between the base coordinate system of the robotic arm and the slave base coordinate system, as well as the third mapping relationship, the coordinate system mapping relationship between the magnetically controlled guide wire and the robotic arm of the magnetically controlled robot is obtained.

[0029] In one embodiment, the magnetized portion of the magnetically controlled wire is provided with at least one magnet, and the target magnetic field vector is obtained according to the end-curve equation, including...

[0030] Based on the curve equation at the slave end and the installation position of each magnet on the magnetically controlled guide wire, the target position of each magnet in the slave end base coordinate system is obtained.

[0031] Based on the angles between each magnet and the three axes of the guide wire coordinate system, obtain the three-axis magnetic field vector corresponding to each magnet;

[0032] According to the magnetic field composition rule, the three-axis magnetic field vectors corresponding to each magnet are combined to obtain the total magnetic field vector corresponding to each magnet.

[0033] The total magnetic field vectors corresponding to all magnets are synthesized to obtain the target magnetic field vector in the guide wire coordinate system.

[0034] In one embodiment, an interventional robot control system is applied, the system including an advance / retreat control device and an interventional robot, the interventional robot being used to control a magnetically controlled guidewire to advance or retract in a target area; the method further includes:

[0035] The forward and backward distance is obtained through the forward and backward control device;

[0036] Generate second control information based on the advance / retreat distance;

[0037] The intervention robot is controlled based on the second control information.

[0038] Secondly, this application also provides a magnetically controlled interventional surgical system, which includes a magnetically controlled robot control system. The magnetically controlled robot control system includes a shape-changing elongated rod and a magnetically controlled robot. The end of the robotic arm of the magnetically controlled robot is provided with a magnet, which is used to generate a magnetic field vector that acts on a magnetically controlled guidewire placed in the target area. The magnetically controlled robot control system also includes:

[0039] The acquisition module is used to acquire the shape information of slender rods;

[0040] The mapping module is used to generate the first control information based on the shape information and the coordinate system mapping relationship between the slender rod and the magnetically controlled guide wire;

[0041] The control module is used to control the movement of each joint of the robotic arm of the magnetically controlled robot according to the first control information, so that the magnetically controlled guide wire produces a deformation corresponding to the shape information.

[0042] In one embodiment, the slender rod is provided with at least one position component, each position component being used to generate position coordinates in the master end base coordinate system;

[0043] The slender rod consists of a magnetized portion and an unmagnetized portion, with the length of the magnetized portion being shorter than the length of the unmagnetized portion.

[0044] In one embodiment, the magnetically controlled interventional surgery system further includes an interventional robot control system, which includes an advance and retreat control device and an interventional robot, with an elongated rod located at the end of the operating handle of the advance and retreat control device;

[0045] The forward and backward control device is used to generate second control information based on the forward and backward distance of the operating handle, and control the intervention robot based on the second control information;

[0046] Interventional robots are used to control the magnetically controlled guidewire to move forward or backward in the target area.

[0047] Thirdly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0048] Obtain the morphological information of slender rods;

[0049] Based on the morphological information and the coordinate system mapping relationship between the slender rod and the magnetically controlled guide wire, the first control information is generated;

[0050] Based on the first control information, the movement of each joint of the robotic arm of the magnetically controlled robot is controlled so that the magnetically controlled guide wire produces a deformation corresponding to the shape information.

[0051] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0052] Obtain the morphological information of slender rods;

[0053] Based on the morphological information and the coordinate system mapping relationship between the slender rod and the magnetically controlled guide wire, the first control information is generated;

[0054] Based on the first control information, the movement of each joint of the robotic arm of the magnetically controlled robot is controlled so that the magnetically controlled guide wire produces a deformation corresponding to the shape information.

[0055] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, performs the following steps:

[0056] Obtain the morphological information of slender rods;

[0057] Based on the morphological information and the coordinate system mapping relationship between the slender rod and the magnetically controlled guide wire, the first control information is generated;

[0058] Based on the first control information, the movement of each joint of the robotic arm of the magnetically controlled robot is controlled so that the magnetically controlled guide wire produces a deformation corresponding to the shape information.

[0059] The aforementioned magnetically controlled guidewire control method, device, computer equipment, storage medium, and computer program product acquire morphological information of a slender rod; generate first control information based on the morphological information and the coordinate system mapping relationship between the slender rod and the magnetically controlled guidewire; and control the movement of each joint of the robotic arm of the magnetically controlled robot according to the first control information, so that the magnetically controlled guidewire produces a deformation corresponding to the morphological information. This allows doctors to intuitively control the overall shape of the tip of the magnetically controlled guidewire by adjusting the shape of the slender rod, improving the flexibility of the magnetically controlled guidewire movement, thereby increasing the control efficiency of the magnetically controlled guidewire, reducing the operational difficulty of controlling the magnetically controlled guidewire, and enhancing the safety during the control process. Attached Figure Description

[0060] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0061] Figure 1 This is an application scenario diagram of the magnetically controlled guide wire control method in one embodiment;

[0062] Figure 2 This is a flowchart illustrating a magnetically controlled guidewire control method in one embodiment;

[0063] Figure 3 This is a schematic diagram of an elongated rod and a magnetically controlled guide wire in one embodiment;

[0064] Figure 4 This is a schematic diagram of the overall magnetically controlled guidewire in one embodiment;

[0065] Figure 5 This is a diagram showing the deformation of the magnetically controlled guide wire under stress in one embodiment;

[0066] Figure 6 This is a schematic diagram of the coordinate system mapping relationship in one embodiment;

[0067] Figure 7 This is a schematic diagram of the magnetic guidewire control process in one embodiment;

[0068] Figure 8 This is a schematic diagram showing the deformation relationship between the slender rod and the magnetically controlled guide wire in one embodiment;

[0069] Figure 9 This is a schematic diagram illustrating the principle of magnetic field synthesis in one embodiment;

[0070] Figure 10 This is a schematic diagram of the magnetic field in a magnetically controlled guidewire blood vessel in one embodiment;

[0071] Figure 11 This is a schematic diagram illustrating the relationship between the various operation spaces in one embodiment;

[0072] Figure 12 This is a schematic diagram of the master-slave control process of a magnetically controlled robot and an interventional robot in one embodiment;

[0073] Figure 13 This is a schematic diagram of a first type of forward / backward control device and slender rod assembly in one embodiment;

[0074] Figure 14 This is a schematic diagram of a second type of forward / backward control device and slender rod combination in one embodiment;

[0075] Figure 15 This is a schematic diagram of a third type of forward / backward control device and slender rod combination in one embodiment;

[0076] Figure 16 This is a schematic diagram of the structure of the first type of magnetically controlled robot in one embodiment;

[0077] Figure 17 This is a schematic diagram of the second type of magnetically controlled robot structure in one embodiment;

[0078] Figure 18 This is a structural block diagram of a magnetically controlled interventional surgical system in one embodiment. Detailed Implementation

[0079] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0080] The magnetically controlled guide wire control method provided in this application embodiment can be applied to, for example... Figure 1 The application environment is shown. The operating table 102 is equipped with a shape-changing slender rod and an advance / retreat control device. The shape-changing slender rod is equivalent to the main control end of the magnetically controlled robot, and the advance / retreat control device is equivalent to the main control end of the interventional robot. The physician can operate the shape-changing slender rod and the advance / retreat control device on the operating table 102. The magnetically controlled robot 104 provides a variable magnetic field during interventional surgery, changing the direction of the magnetically controlled guidewire tip through the magnetic field. The end of the robotic arm of the magnetically controlled robot 104 is equipped with a magnet, which generates a magnetic field vector. This magnetic field vector acts on the magnetically controlled guidewire placed in the target area. The shape-changing slender rod and the magnetically controlled robot 104 together constitute the magnetically controlled robot control system. The interventional robot 106 controls the advance and retreat movement of the magnetically controlled guidewire within the patient's body. The advance / retreat control device and the interventional robot 106 together constitute the interventional robot control system. The image unit 108 displays real-time images or animated models of the magnetically controlled guidewire in the blood vessel, allowing the physician to monitor the guidewire's position in the blood vessel in real time and display relevant prompts. The image unit 108 can display information such as interventional images, the position and speed of the interventional robot at the end, and the force on the tip of the guidewire / catheter; it can include indicator lights that can display colors such as green, yellow, and red. For example, green indicates normal, yellow indicates a warning, and red indicates that danger has been sent. Different color indications can be listed situations, but are not limited to listed situations; it can also include functions such as voice prompts and alarms.

[0081] In one exemplary embodiment, such as Figure 2 As shown, a magnetically controlled guidewire control method is provided, which is applied to... Figure 1 Taking the control panel 102 as an example, the explanation includes the following steps 202 to 206. Wherein:

[0082] Step 202: Obtain the shape information of the slender rod.

[0083] Optionally, after the doctor adjusts the shape of the slender rod, the shape information of the slender rod can be obtained through sensors, image recognition, or other means.

[0084] Step 204: Generate first control information based on the shape information and the coordinate system mapping relationship between the slender rod and the magnetically controlled guide wire.

[0085] Optionally, a mapping relationship between the coordinate system of the slender rod and the coordinate system of the magnetically controlled guide wire can be established in advance. After obtaining the shape information of the slender rod, the shape information is converted into the coordinate system of the magnetically controlled guide wire according to the mapping relationship. Based on the difference between the current shape of the magnetically controlled guide wire and the shape information, the shape change that the magnetically controlled guide wire needs to produce and the force required to produce the shape change are calculated. Finally, based on the relationship between the magnetic field change and the force on the magnetically controlled guide wire, the magnetic field vector that needs to be provided is determined, and the first control information of the magnetically controlled robot is generated based on the magnetic field vector.

[0086] Step 206: According to the first control information, control the movement of each joint of the robotic arm of the magnetically controlled robot so that the magnetically controlled guide wire produces a deformation corresponding to the shape information.

[0087] Optionally, based on the first control information, the movement of each joint of the robotic arm of the magnetically controlled robot is controlled so that the magnet at the end of the robotic arm of the magnetically controlled robot can generate the required magnetic field vector, thereby causing the magnetically controlled guide wire to produce a deformation corresponding to the slender rod.

[0088] In the aforementioned magnetically controlled guidewire control method, the morphological information of the slender rod is acquired; based on the morphological information and the coordinate system mapping relationship between the slender rod and the magnetically controlled guidewire, first control information is generated; based on the first control information, the movement of each joint of the robotic arm of the magnetically controlled robot is controlled, so that the magnetically controlled guidewire produces a deformation corresponding to the morphological information. This allows doctors to intuitively control the overall shape of the tip of the magnetically controlled guidewire by adjusting the shape of the slender rod, improving the flexibility of the magnetically controlled guidewire movement, thereby increasing the control efficiency of the magnetically controlled guidewire, reducing the operational difficulty of controlling the magnetically controlled guidewire, and enhancing the safety during the control process.

[0089] In one embodiment, at least one position component is provided on the slender rod. Obtaining the morphological information of the slender rod includes: determining the main end base coordinate system of the slender rod; obtaining the position coordinates of each position component in the main end base coordinate system; and obtaining the morphological information based on the position coordinates of each position component.

[0090] Optionally, such as Figure 3 As shown, the left image depicts a slender rod with multiple positioning components, while the right image shows the tip of a magnetized wire with multiple magnetic objects, representing the magnetized portion of the wire. The positioning components can be position sensors, magnetic positioning sensors, image sensors, fiber optic sensors, optical sensors, acoustic sensors, or other sensors capable of acquiring position information. The magnetic objects can be permanent magnets or magnetic materials formed by mixing magnetic powder with substances such as silicone.

[0091] Specifically, the deformation of the slender rod is controlled, and the magnetically controlled guidewire follows the deformation state of the rod, undergoing similar deformation. This achieves master-slave control by mapping the parameters of the master end of the magnetically controlled guidewire to the magnetic body at the slave end. Positioning components are installed on the slender rod. The positions of each component relative to a defined origin are acquired. Using this position information, a polynomial is established to fit the shape of the slender rod, obtaining its specific spatial equation. Based on the spatial equation of the slender rod, the magnetically controlled robot controls the changes in the magnetic field. The magnetic field generates a magnetic torque that controls the movement of the magnet at the tip of the magnetically controlled guidewire, ensuring that the shape of the guidewire matches that of the slender rod. This allows for smooth and efficient intravascular movement of the guidewire tip.

[0092] In this embodiment, doctors can intuitively control the overall shape of the tip of the magnetically controlled guidewire by adjusting the shape of the slender rod, which improves the flexibility of the magnetically controlled guidewire movement, thereby improving the control efficiency of the magnetically controlled guidewire, reducing the difficulty of controlling the magnetically controlled guidewire, and enhancing the safety of the magnetically controlled guidewire control process.

[0093] In one embodiment, first control information is generated based on morphological information and the coordinate system mapping relationship between the slender rod and the magnetically controlled guide wire. This includes: determining the main end curve equation of the slender rod based on the morphological information and the main end base coordinate system; determining the guide wire coordinate system of the magnetically controlled guide wire based on the unmagnetized portion of the magnetically controlled guide wire; mapping the main end curve equation to the guide wire coordinate system based on the coordinate system mapping relationship between the slender rod and the magnetically controlled guide wire to obtain the slave end curve equation; the slave end curve equation is used to characterize the target bending angle and target bending direction of the magnetically controlled guide wire; obtaining the target position of each magnet in the slave end base coordinate system based on the slave end curve equation and the installation position of each magnet on the magnetically controlled guide wire; the magnetized portion of the magnetically controlled guide wire is provided with at least one magnet; obtaining the triaxial magnetic field vector corresponding to each magnet based on the angle between each magnet and the three axes of the guide wire coordinate system; performing magnetic field synthesis on the triaxial magnetic field vector corresponding to each magnet according to the magnetic field synthesis rule to obtain the total magnetic field vector corresponding to each magnet; and synthesizing the total magnetic field vector corresponding to all magnets to obtain the target magnetic field vector in the guide wire coordinate system. Based on the target magnetic field vector and the coordinate system mapping relationship between the magnetically controlled guide wire and the robotic arm of the magnetically controlled robot, the first control information is generated.

[0094] The system also includes a visual feedback device, which displays real-time images of the magnetically controlled guide wire in the target area. The method for obtaining the coordinate system mapping relationship between the slender rod and the magnetically controlled guide wire includes: determining the visual base coordinate system of the visual feedback device; determining the slave base coordinate system of the magnetically controlled robot based on the position of the base of the magnetically controlled robot; determining the guide wire coordinate system of the magnetically controlled guide wire when it is in the target area; and obtaining the coordinate system mapping relationship between the slender rod and the magnetically controlled guide wire based on the first mapping relationship between the master base coordinate system and the visual base coordinate system, the second mapping relationship between the visual base coordinate system and the slave base coordinate system, and the third mapping relationship between the slave base coordinate system and the guide wire coordinate system.

[0095] Furthermore, the method for obtaining the coordinate system mapping relationship between the magnetically controlled guide wire and the robotic arm of the magnetically controlled robot includes: determining the robotic arm base coordinate system of the robotic arm of the magnetically controlled robot; and obtaining the coordinate system mapping relationship between the magnetically controlled guide wire and the robotic arm of the magnetically controlled robot based on the fourth mapping relationship between the robotic arm base coordinate system and the slave base coordinate system, as well as the third mapping relationship.

[0096] The overall schematic diagram of the magnetically controlled guidewire is as follows: Figure 4 As shown, the long and thick section is the unmagnetized conductor wire (referred to as a), and the thin and longer section is the magnetized section (referred to as b). A permanent magnet is installed in this section, and the stiffness of a and b are different; the stiffness of b is less than that of a. Therefore, b is easily bent in a magnetic field. The diagram shows two magnets installed in b, but it is not limited to two. It should be noted that the thickness shown in the diagram does not represent the actual thickness; it is only used to distinguish different sections.

[0097] The force deformation diagram of the magnetically controlled guide wire is shown below. Figure 5 As shown, the relationship between the deformation angle of the magnetic wire and the magnetic field strength is as follows:

[0098]

[0099] Where B is the magnetic field strength, γ is the angle between the magnetic field direction and the axis, θ is the deformation angle of the magnetic wire, L is the length of the magnetic part of the wire, E is the elastic modulus of the elastic body, I is the moment of inertia of the magnetic wire, and m is the degree of magnetization of the magnetic wire.

[0100] Under the control of the magnetic field, the permanent magnet remains stationary, and subsequent sections can use this permanent magnet as a base to complete the bending of the subsequent guide wire. In this embodiment, the target magnetic field vector can be calculated based on the above relationship.

[0101] Optionally, such as Figure 6As shown, M-xyz is the master-end coordinate system, S-xyz is the visual coordinate system, D-xyz is the slave-end coordinate system, R-xyz is the robotic arm coordinate system, and H is the coordinate system of the unmagnetized guidewire distal end, which is the guidewire coordinate system for the magnetized guidewire portion and is constantly changing. The four coordinate systems will be referred to as M, S, D, H, and R below. First, the curve equation of the magnetically controlled master end under M is obtained, and it is transformed to S through coordinate system transformation. Then, the coordinate information of S is transformed to D, and finally, the coordinate system of D is transformed to H. The information of the magnetic field required by the single permanent magnet at the guidewire tip under H is obtained, and it is transformed to D. D is then transformed to R to drive the robotic arm movement and adjust the magnetic field.

[0102] like Figure 7 As shown, the doctor manipulates a slender rod. The first step is to collect the three-dimensional position information (x, y, z) of each sensor on the slender rod. The second step is to fit the main end curve equation of the slender rod using the collected position information. The third step is to map the M-curve equation to the H coordinate system. The fourth step is to discretize the positions (x1, y1, z1), ... of different permanent magnets of the magnetically controlled guide wire in the slave end coordinate system. The fifth step is to calculate the angle between the first magnet near the unmagnetized guide wire distal end and the H coordinate system along the X, Y, and Z axes. The sixth step is to calculate the magnetic field magnitude based on the angle. The seventh step is to synthesize the three magnetic fields to obtain the total magnetic field magnitude and direction. The eighth step can repeat steps S1, S2, and S3. The ninth step is to convert the H information to D. The tenth step is to convert the D information to R and drive the robotic arm to convert the magnetic field to the desired position, thus completing the reproduction of the main end curve equation at the tip of the magnetically controlled guide wire.

[0103] Specifically, the surgeon stands at the operating table and manipulates a slender rod on the operating cart, changing its shape according to the interventional surgical images to alter the tip shape of the magnetically controlled guidewire. First, as the surgeon changes the shape of the slender rod, each position component on it transmits its respective position information. Second, the master-end curve equation of the slender rod is fitted based on the real-time position component information from numerous master-end coordinate systems, constructing the master-end curve equation L. Third, based on the mapping relationship between the master-end coordinate system and the unmagnetized guidewire distal coordinate system, the master-end curve equation L is mapped to the unmagnetized guidewire distal coordinate system, obtaining the slave-end curve equation W of the master-end curve equation L in the unmagnetized guidewire distal coordinate system. Fourth, based on the slave-end curve equation W, the position information (x1, y1, z1),... of different permanent magnets at the tip of the magnetically controlled guidewire in the slave-end coordinate system is calculated. Step 5: Treating the distal end near the unmagnetized guide wire as a fixed object, calculate the angles between the first magnet near the distal end of the unmagnetized guide wire and the three axes of the coordinate system of the distal end of the unmagnetized guide wire. Step 6: Based on the calculated three angles, the magnetic field vectors applied to this magnet along each axis can be obtained. Step 7: Perform magnetic field synthesis according to the magnetic field synthesis rule to obtain the total magnetic field vector required for the current magnet. Step 8: Repeat steps 5, 6, and 7 to calculate the magnetic field of subsequent magnets in turn. Finally, synthesize the magnetic field vectors on all magnets to obtain the total magnetic field in the coordinate system of the distal end of the unmagnetized guide wire. Step 9: Based on the mapping relationship between the coordinate system of the distal end of the unmagnetized guide wire and the base coordinate system of the robotic arm, map the total magnetic field in the coordinate system of the distal end of the unmagnetized guide wire to the base coordinate system of the robotic arm to obtain the total magnetic field vector in the base coordinate system of the robotic arm. Step 10: Based on the total magnetic field vector, drive the robotic arm to move, complete the reproduction of the master end curve equation from the slave end, and thus realize the bending action of the magnetically controlled guide wire.

[0104] Slender rods and magnetically controlled guide wires, such as Figure 8 As shown, M is the base coordinate system of the slender rod, M1, M2, and Me are the coordinate systems of the position components, P1, P2, and Pe are the position components, D is the base coordinate system of the magnetically controlled wire, D1, D2, and De are the coordinate systems of each magnet, and B1, B2, and Be are the magnetic fields obtained from the partial decomposition of each magnet. Using the pose information of the position components, the shape information of the slender rod can be obtained, and this information can then be utilized... Figure 6 Mapped to the magnetically controlled guidewire base coordinate system, using Figure 5 The target coordinates of each magnet are calculated, and the required magnetic field vector for each magnet is calculated. Then, using methods such as... Figure 9 The magnetic field composition diagram shown ultimately yields the resultant magnetic field vector. The magnetic field composition diagram conforms to the parallelogram composition rule or the triangle composition rule. Bresultant equals the vector sum of B1 and B2.

[0105] Magnetic control guidewire vascular magnetic field such as Figure 10As shown, based on the shape of the master end of the magnetically controlled guidewire, a magnetic field is applied to change the shape of the slave end guidewire, thereby allowing the guidewire tip to turn inside the blood vessel. The magnetic field here is actually a composite magnetic field; to demonstrate the deformation of the guidewire tip under the magnetic field, a decomposed magnetic field is used for illustration.

[0106] In the above control process, the relationships between the various operating spaces are as follows: Figure 11 As shown, the main operating space describes the shape of the slender rod. Within the main operating space, the shape information of the slender rod under the doctor's manipulation is fitted based on the position information of the slender rod's position components, and this slender rod shape information is output outwards. The main operating space then transmits this shape information through... Figure 6 The coordinate system is mapped to the slave-end operating space to obtain the guide wire tip shape information of the slender rod in the slave-end operating space. Then, the guide wire tip shape information output from the slave-end operating space is mapped to the magnet space, and the angle and direction of bending of each magnet at the guide wire tip in the magnet space are calculated. Figure 5 The required magnetic field vector for each magnet's bending angle and direction is calculated, and finally utilized... Figure 9 The resultant magnetic field vector is obtained. The bidirectional arrow section in the diagram can be reversed to improve the accuracy of the consistency between the guidewire tip shape and the shape of the slender rod.

[0107] In this embodiment, doctors can intuitively control the overall shape of the tip of the magnetically controlled guidewire by adjusting the shape of the slender rod, which improves the flexibility of the magnetically controlled guidewire movement, thereby improving the control efficiency of the magnetically controlled guidewire, reducing the difficulty of controlling the magnetically controlled guidewire, and enhancing the safety of the magnetically controlled guidewire control process.

[0108] In one embodiment, an interventional robot control system is applied, the system including an advance / retreat control device and an interventional robot, the interventional robot being used to control a magnetically controlled guidewire to advance or retreat in a target area; the method further includes: acquiring an advance / retreat distance through the advance / retreat control device; generating second control information based on the advance / retreat distance; and controlling the interventional robot based on the second control information.

[0109] Optionally, during interventional surgery, the master-slave control process between the magnetically controlled robot and the interventional robot is as follows: Figure 12 As shown, the doctor manipulates the advance and retreat control device to move the magnetically controlled guidewire forward and backward within the patient's body. Simultaneously, the doctor manipulates a slender rod to change the tip shape of the magnetically controlled guidewire, enabling it to bend within the patient's body. The combined operation of these two methods allows the guidewire to reach the patient's lesion location. The advance and retreat control device can have force feedback functionality, giving the doctor a realistic sense of control and allowing the doctor to obtain the guidewire's actual position within the patient's body through imaging.

[0110] In one feasible implementation, the forward / backward control device can adopt the first implementation method: such as... Figure 13As shown, the advance / retreat control device and a slender rod are combined. The doctor pushes a linear motor to advance and retreat, obtaining the advance / retreat distance, and then controls the advance and retreat of the interventional robot, thereby controlling the large-scale advance and retreat of the guidewire inside the body. A slender rod with a changeable shape is added to the end of the linear motor handle, on which a position component for acquiring position information is located. The doctor controls the shape change of the slender rod, and the position component acquires the position information of each part of the main end, obtaining the shape information of the slender rod, which is sent to the magnetically controlled robot. The magnetic torque applied by the magnetic field changes the shape of the distal end of the magnetically controlled guidewire inside the body, and then, through a mapping relationship, the shape of the slender rod is made consistent with the shape of the tip of the magnetically controlled guidewire, thereby changing the shape of the distal end of the magnetically controlled guidewire. Integrating the slender rod and the advance / retreat control device together allows a single doctor to complete the guidewire control of interventional surgery, improving efficiency and saving manpower.

[0111] The forward / backward control device can also be implemented in the second way: such as Figure 14 As shown, the advance / retreat control device and a slender rod are combined. The advance / retreat control device consists of a linear motor. The doctor pushes the linear motor to advance and retreat, obtaining the advance / retreat distance, and then controls the advance and retreat of the interventional robot, thereby controlling the large-scale advance and retreat of the guidewire inside the body. A slender rod with a changeable shape is added to the end of the linear motor handle, on which a position component for acquiring positional information is located. The doctor controls the shape change of the slender rod, and the position component acquires the positional information of each part of the main end, obtaining the shape information of the slender rod, which is sent to the magnetically controlled robot. The magnetic torque applied by the magnetic field changes the shape of the distal end of the guidewire inside the body, and then, through a mapping relationship, the shape of the slender rod is made consistent with the tip shape of the magnetically controlled guidewire, thereby changing the shape of the distal end of the magnetically controlled guidewire. The slender rod and the advance / retreat control device can be separated, and the magnetically controlled end has a separate handle, which is fixed to the operating table, allowing multiple people to operate simultaneously.

[0112] The forward and backward control device can also adopt a third implementation method: such as Figure 15 As shown, the advance / retreat control device uses a crank-connecting rod mechanism to obtain the main end's propulsion information. The doctor operates the handle to move on the slide rail, which in turn drives the crank-connecting rod mechanism, causing the end motor to move. Finally, the slide rail movement distance is calculated to control the advance / retreat movement of the interventional robot and the magnetically controlled guidewire. The advance / retreat control device and the slender rod are combined in the same way as in Case 1. This method uses a DC brushless motor.

[0113] In another feasible implementation, the magnetically controlled robot can adopt the first implementation method: such as Figure 16 As shown, a permanent magnet is installed at the end of the robotic arm. By changing the position of the robotic arm's end, the magnetic field can be altered, thereby affecting the shape of the guide wire tip and ensuring that the guide wire tip shape is consistent with the main end. In this embodiment, changing the magnetic field is difficult to implement, and changing the direction of the guide wire tip is inefficient, but this method is simple and low-cost.

[0114] The magnetically controlled robot can also be implemented using the second method: such as Figure 17 As shown, permanent magnets are mounted at the ends of two sets of robotic arms. The two permanent magnets have opposite polarities, forming a uniform magnetic field. The guide wire tip is situated within this uniform magnetic field, and its direction can be controlled by changing the position of the magnetic field. Alternatively, the two permanent magnets can be used to control the guide wire tip in segments, resulting in multi-segment bending of the tip. This embodiment offers ease of implementing magnetic field changes and high efficiency in changing the guide wire tip direction, but the method is complex.

[0115] In this embodiment, doctors can intuitively control the overall shape of the tip of the magnetically controlled guidewire by adjusting the shape of the slender rod and operating the advance and retreat control device. This improves the flexibility of the magnetically controlled guidewire movement, thereby increasing the control efficiency of the magnetically controlled guidewire, reducing the operational difficulty of controlling the magnetically controlled guidewire, and enhancing the safety during the control process.

[0116] A magnetically controlled guidewire control method is applied to a magnetically controlled robot control system and an interventional robot control system. The magnetically controlled robot control system includes a shape-changing slender rod and a magnetically controlled robot. The end of the robot's robotic arm is equipped with a magnet, which generates a magnetic field vector that acts on the magnetically controlled guidewire placed in a target area. The interventional robot control system includes an advance / retreat control device and an interventional robot, which controls the magnetically controlled guidewire to advance or retreat within the target area. The method includes both a magnetically controlled robot control process and an interventional robot control process.

[0117] Based on the same inventive concept, this application also provides a magnetically controlled interventional surgical system for implementing the magnetically controlled guidewire control method described above. The solution provided by this system is similar to the solution described in the above method; therefore, the specific limitations of one or more magnetically controlled interventional surgical system embodiments provided below can be found in the limitations of the magnetically controlled guidewire control method described above, and will not be repeated here.

[0118] In one exemplary embodiment, such as Figure 18 As shown, a magnetically controlled interventional surgery system 1800 is provided. The magnetically controlled interventional surgery system includes a magnetically controlled robot control system. The magnetically controlled robot control system includes a shape-changing slender rod and a magnetically controlled robot. The end of the robotic arm of the magnetically controlled robot is provided with a magnet, which is used to generate a magnetic field vector. The magnetic field vector acts on a magnetically controlled guide wire placed in the target area. The magnetically controlled robot control system also includes an acquisition module 1801, a mapping module 1802, and a control module 1803.

[0119] The acquisition module 1801 is used to acquire the shape information of slender rods.

[0120] The mapping module 1802 is used to generate first control information based on the shape information and the coordinate system mapping relationship between the slender rod and the magnetically controlled guide wire.

[0121] The control module 1803 is used to control the movement of each joint of the robotic arm of the magnetically controlled robot according to the first control information, so that the magnetically controlled guide wire produces a deformation corresponding to the shape information.

[0122] In one embodiment, the slender rod is provided with at least one position component, and the acquisition module 1801 is further configured to determine the main end base coordinate system of the slender rod; acquire the position coordinates of each position component in the main end base coordinate system; and acquire morphological information based on the position coordinates of each position component.

[0123] In one embodiment, the mapping module 1802 is further configured to determine the main end curve equation of the slender rod based on the morphological information and the main end base coordinate system; obtain the slave end curve equation based on the main end curve equation and the coordinate system mapping relationship between the slender rod and the magnetically controlled guide wire; the slave end curve equation is used to characterize the target bending angle and target bending direction of the magnetically controlled guide wire; obtain the target magnetic field vector based on the slave end curve equation; and generate first control information based on the target magnetic field vector and the coordinate system mapping relationship between the magnetically controlled guide wire and the robotic arm of the magnetically controlled robot.

[0124] In one embodiment, the mapping module 1802 is further configured to determine the guide wire coordinate system of the magnetically controlled guide wire based on the unmagnetized portion of the magnetically controlled guide wire; and to map the main end curve equation to the guide wire coordinate system based on the coordinate system mapping relationship between the slender rod and the magnetically controlled guide wire to obtain the slave end curve equation.

[0125] In one embodiment, the system further includes a visual feedback device for displaying real-time images of the magnetically controlled guide wire in the target area. The mapping module 1802 is also used to determine the visual base coordinate system of the visual feedback device; determine the slave base coordinate system of the magnetically controlled robot based on the position of the base of the magnetically controlled robot; determine the guide wire coordinate system of the magnetically controlled guide wire when the magnetically controlled guide wire is in the target area; and obtain the coordinate system mapping relationship between the slender rod and the magnetically controlled guide wire based on the first mapping relationship between the master base coordinate system and the visual base coordinate system, the second mapping relationship between the visual base coordinate system and the slave base coordinate system, and the third mapping relationship between the slave base coordinate system and the guide wire coordinate system.

[0126] In one embodiment, the mapping module 1802 is further configured to determine the manipulator base coordinate system of the magnetically controlled robot's arm; and to obtain the coordinate system mapping relationship between the magnetically controlled guide wire and the manipulator of the magnetically controlled robot based on the fourth mapping relationship between the manipulator base coordinate system and the slave end base coordinate system, and the third mapping relationship.

[0127] In one embodiment, the magnetized portion of the magnetically controlled guide wire is provided with at least one magnet. The mapping module 1802 is further configured to obtain the target position of each magnet in the slave-end base coordinate system based on the slave-end curve equation and the installation position of each magnet on the magnetically controlled guide wire; obtain the triaxial magnetic field vector corresponding to each magnet based on the angle between each magnet and the three axes of the guide wire coordinate system; perform magnetic field synthesis on the triaxial magnetic field vector corresponding to each magnet according to the magnetic field synthesis rule to obtain the total magnetic field vector corresponding to each magnet; and synthesize the total magnetic field vector corresponding to all magnets to obtain the target magnetic field vector in the guide wire coordinate system.

[0128] In one embodiment, the elongated rod is provided with at least one position component, each position component being used to generate position coordinates in the master end base coordinate system; the elongated rod includes a magnetized portion and an unmagnetized portion, the length of the magnetized portion being less than the length of the unmagnetized portion.

[0129] In one embodiment, the magnetically controlled interventional surgical system 1800 further includes an interventional robot control system, which includes an advance / retreat control device and an interventional robot, with an elongated rod located at the end of the operating handle of the advance / retreat control device.

[0130] The forward and backward control device is used to generate second control information based on the forward and backward distance of the operating handle, and control the intervention robot based on the second control information;

[0131] Interventional robots are used to control the magnetically controlled guidewire to move forward or backward in the target area.

[0132] Each module in the aforementioned magnetically controlled guide wire control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0133] 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.

[0134] 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 magnetically controlled interventional surgical system, characterized in that, The magnetically controlled interventional surgical system includes a magnetically controlled robot control system, which includes a shape-changing slender rod and a magnetically controlled robot. The end of the robotic arm of the magnetically controlled robot is equipped with a magnet, which is used to generate a magnetic field vector. The magnetic field vector acts on a magnetically controlled guidewire placed in the target area. The magnetically controlled robot control system also includes: The acquisition module is used to acquire the shape information of the slender rod. The mapping module is used to generate first control information based on the shape information and the coordinate system mapping relationship between the slender rod and the magnetically controlled guide wire; The control module is used to control the movement of each joint of the robotic arm of the magnetically controlled robot according to the first control information, so that the magnetically controlled guide wire produces a deformation corresponding to the shape information; The mapping module is further configured to: determine the main end curve equation of the slender rod based on the morphological information and the main end base coordinate system of the slender rod; obtain the slave end curve equation based on the main end curve equation and the coordinate system mapping relationship between the slender rod and the magnetically controlled guide wire; the slave end curve equation is used to characterize the target bending angle and target bending direction of the magnetically controlled guide wire; obtain the target magnetic field vector based on the slave end curve equation; and generate the first control information based on the target magnetic field vector and the coordinate system mapping relationship between the magnetically controlled guide wire and the robotic arm of the magnetically controlled robot.

2. The system according to claim 1, characterized in that, The slender rod is provided with at least one position component, and the acquisition module is further configured to: determine the main end base coordinate system of the slender rod; acquire the position coordinates of each position component in the main end base coordinate system; and acquire the morphological information based on the position coordinates of each position component.

3. The system according to claim 1, characterized in that, The mapping module is also used for: The guide wire coordinate system of the magnetically controlled guide wire is determined based on the unmagnetized portion of the magnetically controlled guide wire; Based on the coordinate system mapping relationship between the slender rod and the magnetically controlled guide wire, the main end curve equation is mapped to the guide wire coordinate system to obtain the slave end curve equation.

4. The system according to claim 3, characterized in that, The system also includes a visual feedback device for displaying real-time images of the magnetically controlled guide wire in the target area. The mapping module is further configured to: determine the visual base coordinate system of the visual feedback device; determine the slave base coordinate system of the magnetically controlled robot based on the position of the robot's base; determine the guide wire coordinate system of the magnetically controlled guide wire when it is in the target area; and obtain the coordinate system mapping relationship between the slender rod and the magnetically controlled guide wire based on the first mapping relationship between the master base coordinate system and the visual base coordinate system, the second mapping relationship between the visual base coordinate system and the slave base coordinate system, and the third mapping relationship between the slave base coordinate system and the guide wire coordinate system.

5. The system according to claim 4, characterized in that, The mapping module is further configured to: determine the manipulator base coordinate system of the magnetically controlled robot's arm; and obtain the coordinate system mapping relationship between the magnetically controlled guide wire and the manipulator of the magnetically controlled robot based on the fourth mapping relationship between the manipulator base coordinate system and the slave end base coordinate system, and the third mapping relationship.

6. The system according to claim 4, characterized in that, The magnetized portion of the magnetically controlled guide wire is provided with at least one magnet. The mapping module is further configured to: obtain the target position of each magnet in the slave-end base coordinate system based on the slave-end curve equation and the installation position of each magnet on the magnetically controlled guide wire; obtain the triaxial magnetic field vector corresponding to each magnet based on the angle between each magnet and the three axes of the guide wire coordinate system; perform magnetic field synthesis on the triaxial magnetic field vector corresponding to each magnet according to the magnetic field synthesis rule to obtain the total magnetic field vector corresponding to each magnet; and synthesize the total magnetic field vector corresponding to all magnets to obtain the target magnetic field vector in the guide wire coordinate system.

7. The system according to claim 1, characterized in that, The slender rod is provided with at least one position component, and each position component is used to generate position coordinates in the master end base coordinate system; The slender rod includes a magnetized portion and an unmagnetized portion, wherein the length of the magnetized portion is shorter than the length of the unmagnetized portion.

8. The system according to claim 1, characterized in that, The magnetically controlled interventional surgery system also includes an interventional robot control system, which includes an advance / retreat control device and an interventional robot. The slender rod is located at the end of the operating handle of the advance / retreat control device. The advance / retreat control device is used to generate second control information based on the advance / retreat distance of the operating handle, and control the intervention robot based on the second control information; The interventional robot is used to control the magnetically controlled guide wire to move forward or backward in the target area.

9. The system according to claim 8, characterized in that, The forward / backward control device includes a linear motor, with a slender rod of changeable shape added to the end of the linear motor handle. The forward / backward control device is used to generate second control information based on the forward / backward distance of the linear motor handle.

10. The system according to claim 8, characterized in that, The forward / backward control device includes a crank-connecting rod mechanism. The operating handle moves on a slide rail, driving the crank-connecting rod mechanism to move the end motor. The forward / backward control device is used to generate second control information based on the forward / backward distance of the operating handle.

11. The system according to claim 7, characterized in that, The magnetized portion is easily bent in a magnetic field, and the deformation angle of the magnetically controlled guide wire has a preset relationship with the magnetic field strength.

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