Method and apparatus for generating laser ablation guide tube end bending control commands

Abstract

The present invention discloses a method and device for generating a bending control instruction for the end of a laser ablation catheter, wherein the method comprises: acquiring image data of the environment where the distal end of the laser ablation catheter is located, extracting characteristic information of the tissue surrounding the distal end of the catheter from the image data; wherein the characteristic information comprises geometric characteristics, texture characteristics, color characteristics and depth information; judging the current direction of the distal end of the laser ablation catheter according to the characteristic information, and calculating the required bending angle of the distal end of the laser ablation catheter according to the current direction; generating a bending control instruction according to the bending angle, controlling the rotation of the shaft of the servo motor, and driving at least two traction lines connected to the servo motor to bend the distal end of the laser ablation catheter to the required angle. The present invention reduces the doctor's operating burden and work intensity through precise guidance and control, and improves the efficiency of surgery.

Description

Technical Field

[0001] The present invention relates to the technical field of medical laser ablation, and in particular to a method and device for generating bending control instructions for an end portion of a laser ablation catheter. Background Art

[0002] Laser ablation is a common minimally invasive treatment method, which is widely used in the treatment of cardiovascular diseases and other fields. In laser ablation surgery, the catheter usually needs to be precisely positioned to the target tissue to ensure that the laser energy can accurately act on the lesion area.

[0003] Existing methods for controlling the bending of the end of laser ablation catheters mainly include manual control and sensor-based automatic control. Among them, the manual control method is that the doctor adjusts the position and bending angle of the catheter based on experience and visual feedback. Manual operation is easily affected by the doctor's experience and skills, and controlling the bending of the catheter requires the doctor to have a high level of skills. In a complex surgical environment, the difficulty of controlling the catheter is further increased. The sensor-based automatic control method uses various sensors (such as force sensors, displacement sensors, etc.) to monitor the position of the catheter and changes in the external environment, and then adjusts the bending angle of the catheter through a controller. The sensor may be affected by electromagnetic interference or other external factors, thereby reducing the reliability of the data.

[0004] To solve the above problems, the present invention utilizes image processing and intelligent control technology to achieve precise guidance and bending control of the end of the laser ablation catheter, so as to improve the accuracy and safety of the laser ablation surgery. Summary of the invention

[0005] In view of the above problems, the present invention provides a method and device for generating bending control instructions for the end of a laser ablation catheter, and a computing device.

[0006] According to one aspect of the present invention, a method for generating a bending control instruction for an end portion of a laser ablation catheter is provided, comprising:

[0007] Acquire image data of the environment where the distal end of the laser ablation catheter is located, and extract characteristic information of the tissue surrounding the distal end of the catheter from the image data; wherein the characteristic information includes geometric features, texture features, color features and depth information;

[0008] Determining the current direction of the distal end of the laser ablation catheter according to the characteristic information, and calculating the required bending angle of the distal end of the laser ablation catheter according to the current direction;

[0009] The rotation of the rotating shaft of the servo motor is controlled according to the bending angle, and the servo motor drives at least two traction wires connected to the servo motor to bend the distal end of the laser ablation catheter to a desired angle.

[0010] In an optional manner, the laser ablation catheter is based on a rapid exchange catheter and an integral exchange catheter, and the catheter itself includes a longitudinal component and a tube cross-sectional component;

[0011] The longitudinal components include a coupling handle, an adjustment handle, a guide wire port, and a directional bending head end; the coupling handle adopts a composite structure of an ABS plastic shell and an aluminum alloy frame to ensure the stability of the connection between the optical fiber bundle and the coupling handle;

[0012] The cross-section of the tube body comprises an outer sleeve, an optical fiber layer located inside the outer sleeve, and a guidewire cavity located at the center of the optical fiber layer; wherein the guidewire cavity is used for the passage of the front guidewire and passes out from the guidewire port, and the guidewire cavity is a central axis or an eccentric axis; a protective sleeve is provided between the outer sleeve and the coupling handle; the outer sleeve body is provided with a hot pressing mark, and the section from the mark to the catheter head end is the working length of the catheter, and the working length section of the catheter is covered with a hydrophilic coating; an optical fiber layer is arranged on the periphery of the guidewire cavity, which is separated by an opaque inner sleeve to ensure the stability of energy transmission in the optical fiber layer; the minimum bending radius of the optical fiber in the optical fiber layer is 12 to 13 degrees.

[0013] In an optional manner, a first pulling wire and a second pulling wire are arranged between the outer sleeve and the optical fiber layer;

[0014] The first traction wire is located at the bending part of the directional bending head end and is configured to be a fixed length that can be tightened. The second traction wire is located at the directional bending head end and is symmetrically distributed 180 degrees with the first traction wire. The tail of the second traction wire is an elastic wire.

[0015] A roller connected to the first traction wire is provided in the adjustment handle. The roller is toggled by a controller to control the tension of the first traction wire so that the catheter tip is bent toward the first traction wire, wherein the curvature is less than or equal to 90 degrees, and reverse rotation restores the initial state.

[0016] In an optional manner, judging the current direction of the distal end of the laser ablation catheter according to the characteristic information further includes:

[0017] Determining the current direction of the distal end of the laser ablation catheter by a combined condition rule method;

[0018] The combination condition rules include geometric feature rules, texture feature rules, color feature rules and depth information rules.

[0019] In an optional manner, the geometric feature rule includes a first rule and a second rule, wherein the first rule is: if there is a linear structure in front of the distal end of the catheter, and the direction of the structure forms an acute angle with the current axis of the catheter, then it is determined that the catheter should be bent in the direction of the linear structure; the second rule is: if the distal end of the catheter touches the tissue boundary, and the direction of the boundary is clear, then it is determined that the catheter should continue to advance along the boundary direction or bend appropriately to bypass the obstacle;

[0020] The texture feature rules include a third rule and a fourth rule, wherein the third rule is: if the texture of the tissue area in front of the distal end of the catheter shows a highly consistent directionality, it is judged that the catheter should move along the texture direction; the fourth rule is: if the texture feature shows that there is an irregular or rough area in front, it indicates the presence of scar tissue or lesions;

[0021] The color feature rules include a fifth rule, wherein the fifth rule is: if an area with a different color from the surrounding tissue appears in front of the catheter, the direction of the blood vessel is determined according to the color distribution and brightness, and the direction of the catheter is adjusted accordingly;

[0022] The depth information rule includes a sixth rule, wherein the sixth rule is: if the depth information shows that there is a slope or height change in front of the catheter, it is determined that the catheter should adjust its bending angle.

[0023] In an optional manner, calculating the required bending angle of the distal end of the laser ablation catheter according to the current direction further includes:

[0024] defining a local coordinate system at the target position, determining a rotation from a reference coordinate system to the local coordinate system, and calculating a target direction reached by the distal end of the catheter according to the target position;

[0025] Comparing the current direction with the target direction, respectively calculating the rotation differences in pitch, yaw and roll; obtaining the bending angles in pitch, yaw and roll according to the rotation differences;

[0026] The bending angle is adjusted according to the minimum bending radius and the maximum bending angle of the laser ablation catheter, and the bending angle is converted into a bending control instruction of the laser ablation catheter.

[0027] In an optional manner, obtaining the bending angles in pitch, yaw and roll according to the rotation difference further includes:

[0028] Calculating the bending angles in pitch, yaw and roll according to the elements of the rotation difference matrix;

[0029] Wherein, the bending angle in pitch is:

[0030] ;

[0031] in, is the bending angle in pitch, ,···, is the rotation difference matrix Elements of ; is the inverse tangent function;

[0032] The bending angle on yaw is:

[0033] ;

[0034] in, is the bending angle on yaw;

[0035] The bending angle on the roll is:

[0036] ;

[0037] in, is the bending angle in roll.

[0038] In an optional manner, according to the minimum bending radius and the maximum bending angle of the laser ablation catheter, adjusting the bending angle further comprises:

[0039] According to the minimum bending radius and the maximum bending angle of the laser ablation catheter, the pitch angle, the yaw angle and the roll angle of the bending angle are adjusted;

[0040] Wherein, the expression of the pitch angle is:

[0041] ;

[0042] in, is the pitch angle, is the maximum bending angle, , is the arc length of the laser ablation catheter, is the minimum bending radius; is a sign function used to keep the bending direction unchanged;

[0043] The expression of the yaw angle is:

[0044] ;

[0045] in, is the yaw angle;

[0046] The expression of the roll angle is:

[0047] ;

[0048] in, is the roll angle.

[0049] In an optional manner, the control instruction for converting the bending angle into the laser ablation catheter further includes:

[0050] Setting a motor control scaling factor to accommodate the physical characteristics of the laser ablation catheter and the response characteristics of the motor;

[0051] Applying the control instruction to the servo motor of the laser ablation catheter to bend the distal end of the laser ablation catheter to a desired angle;

[0052] Wherein, the bending control instruction of the servo motor is:

[0053] ;

[0054] in, for , or ; The motor control proportional factor corresponding to the pitch angle, yaw angle or roll angle; is the adjusted pitch angle, yaw angle or roll angle.

[0055] According to another aspect of the present invention, there is provided a laser ablation catheter end bending control device, comprising:

[0056] An image extraction module, used to obtain image data of the environment where the distal end of the laser ablation catheter is located, and extract characteristic information of the tissue surrounding the distal end of the catheter from the image data; wherein the characteristic information includes geometric features, texture features, color features and depth information;

[0057] a bending angle calculation module, used to determine the current direction of the distal end of the laser ablation catheter according to the characteristic information, and calculate the required bending angle of the distal end of the laser ablation catheter according to the current direction;

[0058] The bending control module is used to control the rotation of the shaft of the servo motor according to the bending angle, and drive at least two traction wires connected to the servo motor to bend the distal end of the laser ablation catheter to a desired angle.

[0059] According to another aspect of the present invention, there is provided a computing device, comprising: a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other via the communication bus. The computing device is used to run the program code stored therein to execute any of the above-mentioned methods for generating a bending control instruction for a laser ablation catheter end.

[0060] According to the solution provided by the present invention, image data of the environment where the distal end of the laser ablation catheter is located is obtained, and characteristic information of the tissue surrounding the distal end of the catheter is extracted from the image data; wherein the characteristic information includes geometric features, texture features, color features and depth information; the current direction of the distal end of the laser ablation catheter is determined according to the characteristic information, and the required bending angle of the distal end of the laser ablation catheter is calculated according to the current direction; the rotation of the rotating shaft of the servo motor is controlled according to the bending angle, and at least two traction wires connected to it are driven by the servo motor to bend the distal end of the laser ablation catheter to the required angle. The present invention obtains image data of the environment where the distal end of the laser ablation catheter is located, extracts characteristic information of the tissue surrounding the distal end of the catheter from the image data, and determines and calculates the current direction and bending angle of the distal end of the laser ablation catheter according to the characteristic information. The distal end of the laser ablation catheter is bent to the required angle by controlling the servo motor to pull the traction wire. The method can realize precise guidance and control of the catheter end, and can be more suitable for in vivo (especially intravascular) diagnosis and treatment scenarios compared with traditional manual control, thereby reducing the doctor's operating burden and work intensity, and improving surgical efficiency.

[0061] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0063] Figure 1 A schematic diagram showing a flow chart of a method for generating a bending control instruction for a laser ablation catheter end portion according to an embodiment of the present invention;

[0064] Figure 2 A schematic plan view of the distal end surface of the laser ablation catheter according to an embodiment of the present invention is shown;

[0065] Figure 3a A schematic diagram of the transverse cross-sectional structure of a laser ablation catheter according to an embodiment of the present invention is shown;

[0066] Figure 3b A schematic diagram showing the structure of a laser ablation catheter in a bent state according to an embodiment of the present invention is shown;

[0067] Figure 4 A schematic diagram showing a frame of a device for controlling bending of a laser ablation catheter end portion according to an embodiment of the present invention;

[0068] Figure 5 A schematic diagram of the structure of a computing device according to an embodiment of the present invention is shown.

[0069] Figure numerals: 16 - outer sleeve, 17 - optical fiber layer, 18 - guide wire cavity, 19 - traction channel, 20 - traction wire, 21 - bendable tough part, 22 - servo motor, 410 - image acquisition module, 420 - bending angle calculation module, 430 - bending control module, 502 - processor, 504 - communication interface, 506 - memory, 508 - communication bus, 510 - program. DETAILED DESCRIPTION

[0070] The exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present invention and to enable the scope of the present invention to be fully communicated to those skilled in the art.

[0071] Figure 1 FIG. 1 is a flow chart showing a method for generating a bending control instruction for a laser ablation catheter end portion according to an embodiment of the present invention. Specifically, Figure 1 As shown, the following steps are included:

[0072] Step S101, acquiring image data of the environment where the distal end of the laser ablation catheter is located, and extracting feature information of tissues surrounding the distal end of the catheter from the image data; wherein the feature information includes geometric features, texture features, color features and depth information.

[0073] In this embodiment, the image processing technology can be used to accurately extract the characteristic information of the tissue surrounding the distal end of the catheter, thereby improving the accuracy of the current direction of the distal end of the catheter.

[0074] Specifically, intravascular angiography or OCT imaging scanning technology is used to obtain image data of the environment where the distal end of the laser ablation catheter is located. The acquired image data is preprocessed, including noise removal, image enhancement and other steps. Edge detection algorithms (such as Canny edge detection) are used to extract boundary information of the catheter and surrounding tissues. Shape recognition algorithms (such as Hough transform) are used to identify the geometric shapes of the catheter and tissues. Gray-level co-occurrence matrix (GLCM) and other methods are used to extract texture features of the tissue. Color space conversion is used to extract color features of the tissue. Structured light technology is used to obtain three-dimensional depth information of the tissue around the distal end of the catheter, and the depth information is used to construct a three-dimensional model of the tissue.

[0075] In this embodiment, please refer to Figure 2 , Figure 3a to Figure 3b As shown, the laser ablation catheter includes a longitudinal component and a tube cross-sectional component;

[0076] The longitudinal components include a coupling handle, an adjustment handle, a guide wire port, and a directional bending head end; the coupling handle adopts a composite structure of an ABS plastic shell and an aluminum alloy frame to ensure the stability of the connection between the optical fiber bundle and the coupling handle;

[0077] The cross-section of the tube body comprises an outer sleeve 16, an optical fiber layer 17 located inside the outer sleeve 16, and a guidewire cavity 18 located at the center of the optical fiber layer 17; wherein the guidewire cavity 18 is used for the passage of the front guidewire and passes out from the guidewire port, and the guidewire cavity is a central axis or an eccentric axis. The outer sleeve 16 has a built-in traction channel 19, in which a traction wire 20 is placed, the distal end of the traction wire 20 is fixed inside the distal end of the traction channel 19, and the proximal end of the traction wire 20 passes out of the proximal end of the traction channel 19 along the path of the traction channel 19. A bendable and tough member 21 is pre-buried below the distal end of each traction channel 19.

[0078] A protective sleeve is provided between the outer sleeve and the coupling handle; a heat-pressing mark is provided on the outer sleeve body, and the working length of the catheter is from the mark section to the catheter head end, and the working length section of the catheter is covered with a hydrophilic coating; an optical fiber layer 17 is arranged on the periphery of the guidewire cavity and is separated by an opaque inner sleeve to ensure the stability of energy transmission of the optical fiber layer 17; the minimum bending radius of the optical fiber filaments in the optical fiber layer 17 is 12 to 13 degrees.

[0079] Wherein, a first traction wire and a second traction wire are arranged between the outer sleeve and the optical fiber layer 17; the first traction wire is located at the bending portion of the directional bending head end and is configured to be a fixed length that can be tightened, the second traction wire is located at the directional bending head end and is symmetrically distributed 180 degrees with the first traction wire, and the tail of the second traction wire is an elastic wire;

[0080] The adjustment handle is provided with a roller connected to the first traction wire, and the roller is turned by the controller to control the tension of the first traction wire, so that the catheter tip is bent toward the first traction wire, wherein the curvature of the bend is less than or equal to 90 degrees, and the initial state is restored by reverse rotation. The adjustment handle is used to manually adjust the bending angle of the catheter, and can be used alone or in combination with the automatic control mode. The doctor can manually adjust the bending angle of the catheter by adjusting the handle to deal with situations that the automatic control mode cannot solve.

[0081] Step S102, determining the current direction of the distal end of the laser ablation catheter according to the characteristic information, and calculating the required bending angle of the distal end of the laser ablation catheter according to the current direction.

[0082] In this embodiment, judging the current direction of the distal end of the laser ablation catheter according to the characteristic information further includes:

[0083] Determining the current direction of the distal end of the laser ablation catheter by a combined condition rule method;

[0084] The combination condition rules include geometric feature rules, texture feature rules, color feature rules and depth information rules.

[0085] The geometric feature rules include a first rule and a second rule, wherein the first rule is: if there is an obvious linear structure (visibility exceeds a preset threshold) in front of the distal end of the catheter, and the direction of the structure forms an acute angle with the current axis of the catheter, then it is determined that the catheter should be bent in the direction of the linear structure; the second rule is: if the distal end of the catheter touches the tissue boundary, and the boundary direction is clear, then it is determined that the catheter should continue to advance along the boundary direction or bend appropriately to bypass the obstacle;

[0086] The texture feature rules include a third rule and a fourth rule, wherein the third rule is: if the texture of the tissue area in front of the distal end of the catheter shows a highly consistent directionality, it is judged that the catheter should move along the texture direction; the fourth rule is: if the texture feature shows that there is an irregular or rough area in front, it indicates the presence of scar tissue or lesions;

[0087] The color feature rules include a fifth rule, wherein the fifth rule is: if an area with a significantly different color from the surrounding tissue (the color difference exceeds a preset color difference threshold) appears in front of the catheter, the direction of the blood vessel is determined according to the color distribution and brightness, and the direction of the catheter is adjusted accordingly;

[0088] The depth information rules include a sixth rule, wherein the sixth rule is: if the depth information shows that there is an obvious slope or height change in front of the catheter, it is determined that the catheter should adjust its bending angle.

[0089] For example, the imaging technology captures that the distal end of the catheter is about to touch tissue with a clear boundary. By recognizing that the direction of the boundary is clear and meets the conditions of the second rule, it is determined that the catheter should continue to advance along the boundary direction or bend appropriately to bypass the obstacle, and the corresponding instructions are sent. For another example, when the front end of the catheter reaches an area with irregular or rough texture features, it is recognized according to the texture feature rule (fourth rule) that there may be scar tissue or lesions ahead, and the catheter path is adjusted.

[0090] In an optional manner, calculating the required bending angle of the distal end of the laser ablation catheter according to the current direction further includes:

[0091] defining a local coordinate system at the target position, determining a rotation from a reference coordinate system to the local coordinate system, and calculating a target direction reached by the distal end of the catheter according to the target position;

[0092] Comparing the current direction with the target direction, respectively calculating the rotation differences in pitch, yaw and roll; obtaining the bending angles in pitch, yaw and roll according to the rotation differences;

[0093] The bending angle is adjusted according to the minimum bending radius and the maximum bending angle of the laser ablation catheter, and the bending angle is converted into a control instruction of the laser ablation catheter.

[0094] For example, in intravascular interventional surgery, a local coordinate system is defined at the target ablation position. The coordinate system is centered on the lesion, with the X-axis pointing in the direction of the long axis of the blood vessel, the Y-axis perpendicular to the X-axis and pointing to the outside of the blood vessel, and the Z-axis perpendicular to the XY plane. According to the surgical plan and the location of the lesion, the target direction that the distal end of the catheter should reach in the local coordinate system is calculated, such as a pitch angle of 30 degrees, a yaw angle of 0 degrees, and a roll angle of 0 degrees. The current direction information of the catheter is obtained in real time, and it is found that the current pitch angle is 20 degrees, which is 10 degrees different from the target. According to the rotation difference, it is calculated that the catheter needs to increase the bending angle of 10 degrees in the pitch direction. The 10-degree bending angle is converted into a control instruction, such as the motor rotates a certain angle to achieve the bending of the catheter. The control instruction is sent to the catheter control system, and the catheter automatically bends to the target direction, and the doctor then performs ablation treatment.

[0095] In this embodiment, obtaining the bending angles in pitch, yaw and roll according to the rotation difference further includes:

[0096] Calculating the bending angles in pitch, yaw and roll according to the elements of the rotation difference matrix;

[0097] Wherein, the bending angle in pitch is:

[0098] ;

[0099] in, is the bending angle in pitch, ,···, is the rotation difference matrix Elements of ; is the inverse tangent function;

[0100] The bending angle on yaw is:

[0101] ;

[0102] The bending angle on the roll is:

[0103] .

[0104] In this embodiment, to obtain the rotation difference matrix, it is first necessary to define the current posture and the desired posture of the distal end of the catheter using a rotation matrix, quaternion or Euler angle, and then obtain the rotation difference matrix by multiplying the inverse (or transpose) of the desired posture by the current posture.

[0105] For example, in the C++ programming environment, the rotation difference matrix is ​​obtained by importing the Eigen library:

[0106] #include <eigen dense>

[0107] #include <iostream>

[0108] using namespace Eigen;

[0109] using namespace std;

[0110] int main() {

[0111] Matrix3f R_current = / * ... current posture element* / ;

[0112] Matrix3f R_desired = / * ... desired posture element* / ;

[0113] / / Use Eigen's Rotation3f class to extract the quaternion from the rotation matrix

[0114] Rotation3f rot_current(R_current);

[0115] Quaternionf q_current = rot_current;

[0116] Rotation3f rot_desired(R_desired);

[0117] Quaternionf q_desired = rot_desired;

[0118] / / Calculate the difference between the current and expected quaternion

[0119] Quaternionf q_diff = q_desired * q_current.conjugate().normalized();

[0120] q_diff.normalize(); / / Normalize quaternion

[0121] / / Convert the quaternion back to a rotation matrix

[0122] Matrix3f R_diff = q_diff.toRotationMatrix();

[0123] return 0;

[0124] }

[0125] In an optional manner, according to the minimum bending radius and the maximum bending angle of the laser ablation catheter, adjusting the bending angle further comprises:

[0126] According to the minimum bending radius and the maximum bending angle of the laser ablation catheter, the pitch angle, the yaw angle and the roll angle of the bending angle are adjusted;

[0127] Wherein, the expression of the pitch angle is:

[0128] ;

[0129] in, is the pitch angle, is the maximum bending angle, , is the arc length of the laser ablation catheter, is the minimum bending radius; is a sign function used to keep the bending direction unchanged;

[0130] The expression of the yaw angle is:

[0131] ;

[0132] The expression of the roll angle is:

[0133] .

[0134] In this embodiment, by limiting the bending angle to not exceed the maximum bending angle of the laser ablation catheter, damage to the catheter caused by excessive bending is avoided. Under the premise of keeping the bending direction unchanged, the bending angle is adjusted to the maximum allowable value to ensure that the catheter can be as close to the target position as possible. This adjustment method is applicable to laser ablation catheters of different specifications and types. It only needs to be set according to the minimum bending radius and maximum bending angle of the catheter, and can be flexibly applied to various surgical scenarios.

[0135] In an optional manner, the control instruction for converting the bending angle into the laser ablation catheter further includes:

[0136] Setting a motor control scaling factor to accommodate the physical characteristics of the laser ablation catheter and the response characteristics of the motor;

[0137] Applying the control instruction to the servo motor 22 of the laser ablation catheter to bend the distal end of the laser ablation catheter to a desired angle;

[0138] Wherein, the control instruction of the servo motor is:

[0139] ;

[0140] in, for , or ; The motor control proportional factor corresponding to the pitch angle, yaw angle or roll angle; is the adjusted pitch angle, yaw angle or roll angle.

[0141] In this embodiment, by setting the motor control proportional factor, the adjusted bending angle can be accurately converted into the control instruction of the servo motor, thereby realizing the precise control of the distal bending of the laser ablation catheter. The motor control proportional factor can be adjusted according to the physical properties of different laser ablation catheters and the response characteristics of different servo motors. Through the control instructions and proportional factors, the stability and reliability of the laser ablation catheter during the bending process can be ensured, and the jitter phenomenon caused by improper control can be reduced. For example, assume that the original calculated bending angle is 120 degrees pitch, 30 degrees yaw, and 0 degrees roll. After adjustment, the pitch angle becomes 60 degrees (because 120 degrees exceeds the maximum bending angle), and the yaw and roll angles remain unchanged.

[0142] Step S103, controlling the rotation of the shaft of the servo motor according to the bending angle, and driving at least two traction wires connected to the servo motor to bend the distal end of the laser ablation catheter to a desired angle.

[0143] By adjusting the control parameters of the servo motor 22 and the layout of the traction wire, laser ablation catheters of different specifications and types and different surgical requirements can be adapted. The servo motor 22 serves as a power source and drives the shaft to rotate according to the control instructions. The shaft is connected to the servo motor 22 and drives the traction wire to move by rotating. The traction wire is connected to the shaft and the distal end of the laser ablation catheter to transmit the pulling force of the shaft and change the bending state of the catheter.

[0144] According to the solution provided by the present invention, image data of the environment where the distal end of the laser ablation catheter is located is obtained, and characteristic information of the tissue surrounding the distal end of the catheter is extracted from the image data; wherein the characteristic information includes geometric features, texture features, color features, and depth information; the current direction of the distal end of the laser ablation catheter is determined based on the characteristic information, and the required bending angle of the distal end of the laser ablation catheter is calculated based on the current direction; the rotation of the shaft of the servo motor is controlled according to the bending angle, and at least two traction wires connected to it are driven by the servo motor to bend the distal end of the laser ablation catheter to the required angle. The present invention reduces the doctor's operating burden and work intensity through precise guidance and control, and improves surgical efficiency.

[0145] Figure 4 The structure diagram of the laser ablation catheter end bending control device according to an embodiment of the present invention is shown. The laser ablation catheter end bending control device comprises:

[0146] An image extraction module 410 is used to obtain image data of the environment where the distal end of the laser ablation catheter is located, and extract characteristic information of the tissue surrounding the distal end of the catheter from the image data; wherein the characteristic information includes geometric features, texture features, color features and depth information;

[0147] A bending angle calculation module 420, configured to determine the current direction of the distal end of the laser ablation catheter according to the characteristic information, and calculate the required bending angle of the distal end of the laser ablation catheter according to the current direction;

[0148] The bending control module 430 is used to control the rotation of the shaft of the servo motor according to the bending angle, and drive at least two traction wires connected to the servo motor to bend the distal end of the laser ablation catheter to a desired angle. Figure 3a , Figure 3b As shown, the bending control module 430 includes a servo motor 22, and the traction wire 20 is wound around the roller of the servo motor 22. By starting different servo motors 22 to retract and release the wound traction wire 20, the bending angle of the distal end of the laser ablation catheter is controlled.

[0149] Figure 5 The schematic diagram of the structure of the computing device embodiment of the present invention is shown. The specific embodiment of the present invention does not limit the specific implementation of the computing device.

[0150] like Figure 5 As shown, the computing device may include: a processor (processor) 502 , a communications interface (Communications Interface) 504 , a memory (memory) 506 , and a communication bus 508 .

[0151] The processor 502, the communication interface 504, and the memory 506 communicate with each other via a communication bus 508. The communication interface 504 is used to communicate with other devices such as a client or other server network elements. The processor 502 is used to execute a program 510, which can specifically execute the relevant steps in the above-mentioned laser ablation catheter end bending control instruction generation method embodiment.

[0152] Specifically, the program 510 may include program codes, which include computer operation instructions.

[0153] The processor 502 may be a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention. The one or more processors included in the computing device may be processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs.

[0154] The memory 506 is used to store the program 510. The memory 506 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0155] According to the solution provided by the present invention, image data of the environment where the distal end of the laser ablation catheter is located is obtained, and characteristic information of the tissue surrounding the distal end of the catheter is extracted from the image data; wherein the characteristic information includes geometric features, texture features, color features, and depth information; the current direction of the distal end of the laser ablation catheter is determined based on the characteristic information, and the required bending angle of the distal end of the laser ablation catheter is calculated based on the current direction; the rotation of the shaft of the servo motor is controlled according to the bending angle, and at least two traction wires connected to it are driven by the servo motor to bend the distal end of the laser ablation catheter to the required angle. The present invention reduces the doctor's operating burden and work intensity through precise guidance and control, and improves surgical efficiency.

[0156] Those skilled in the art will appreciate that the modules in the devices in the embodiments may be adaptively changed and arranged in one or more devices different from the embodiments. The modules or units or components in the embodiments may be combined into one module or unit or component, and further may be divided into multiple sub-modules or sub-units or sub-components. All features disclosed in this specification (including the accompanying claims, abstracts and drawings) and all processes or units of any method or device disclosed in this manner may be combined in any combination, except that at least some of such features and / or processes or units are mutually exclusive. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstracts and drawings) may be replaced by an alternative feature that provides the same, equivalent or similar purpose. In addition, those skilled in the art will appreciate that although some embodiments herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present invention and to form different embodiments. The present invention may be implemented by means of hardware including several different elements and by means of a suitably programmed computer. In a unit claim that lists several devices, several of these devices may be embodied by the same hardware item. Unless otherwise specified, the steps in the above embodiments should not be understood as limiting the execution order.< / iostream> < / eigen>

Claims

1. A method for generating a bending control instruction for a laser ablation catheter end, characterized in that: include: Acquire image data of the environment where the distal end of the laser ablation catheter is located, and extract characteristic information of the tissue surrounding the distal end of the catheter from the image data; wherein the characteristic information includes geometric features, texture features, color features and depth information; Determining the current direction of the distal end of the laser ablation catheter according to the characteristic information, and calculating the required bending angle of the distal end of the laser ablation catheter according to the current direction; Wherein, judging the current direction of the distal end of the laser ablation catheter according to the characteristic information further includes: Determining the current direction of the distal end of the laser ablation catheter by a combined condition rule method; Wherein, the combination condition rules include geometric feature rules, texture feature rules, color feature rules and depth information rules; The geometric feature rules include a first rule and a second rule, wherein the first rule is: if there is a linear structure in front of the distal end of the catheter, and the direction of the structure forms an acute angle with the current axis of the catheter, then it is determined that the catheter should be bent in the direction of the linear structure; the second rule is: if the distal end of the catheter touches the tissue boundary, and the boundary direction is clear, then it is determined that the catheter should continue to advance along the boundary direction or bend appropriately to bypass the obstacle; The texture feature rules include a third rule and a fourth rule, wherein the third rule is: if the texture of the tissue area in front of the distal end of the catheter shows a highly consistent directionality, it is judged that the catheter should move along the texture direction; the fourth rule is: if the texture feature shows that there is an irregular or rough area in front, it indicates the presence of scar tissue or lesions; The color feature rules include a fifth rule, wherein the fifth rule is: if an area with a color different from that of the surrounding tissue appears in front of the catheter, the direction of the blood vessel is determined according to the color distribution and brightness; The depth information rule includes a sixth rule, wherein the sixth rule is: if the depth information shows that there is a slope or height change in front of the catheter, it is determined that the catheter should adjust the bending angle; The bending angle is converted into a bending control instruction of the laser ablation catheter, and the bending control instruction can be used to control a servo motor, wherein the rotating shaft of the servo motor is connected to at least two traction wires.

2. The method for generating a laser ablation catheter end bending control instruction according to claim 1, characterized in that: The laser ablation catheter comprises a longitudinal component and a tube cross-sectional component; The longitudinal components include a coupling handle, an adjustment handle, a guide wire port, and a directional bending head end; the coupling handle adopts a composite structure of an ABS plastic shell and an aluminum alloy frame to ensure the stability of the connection between the optical fiber bundle and the coupling handle; The cross-section of the tube body comprises an outer sleeve, an optical fiber layer located inside the outer sleeve, and a guidewire cavity located at the center of the optical fiber layer; wherein the guidewire cavity is used for the passage of the front guidewire and passes out from the guidewire port, and the guidewire cavity is a central axis or an eccentric axis; a protective sleeve is provided between the outer sleeve and the coupling handle; the outer sleeve body is provided with a hot pressing mark, and the section from the mark to the catheter head end is the working length of the catheter, and the working length section of the catheter is covered with a hydrophilic coating; an optical fiber layer is arranged on the periphery of the guidewire cavity, which is separated by an opaque inner sleeve to ensure the stability of energy transmission in the optical fiber layer; the minimum bending radius of the optical fiber in the optical fiber layer is 12 to 13 degrees.

3. The method for generating a laser ablation catheter end bending control instruction according to claim 2, characterized in that: At least two traction wires are arranged between the outer sleeve and the optical fiber layer, including a first traction wire and a second traction wire; The first traction wire is located at the bending part of the directional bending head end and is configured to be a fixed length that can be tightened. The second traction wire is located at the directional bending head end and is symmetrically distributed 180 degrees with the first traction wire. The tail of the second traction wire is an elastic wire. A roller connected to the first traction wire is provided in the adjustment handle. The roller is toggled by a controller to control the tension of the first traction wire so that the catheter tip is bent toward the first traction wire, wherein the curvature is less than or equal to 90 degrees, and reverse rotation restores the initial state.

4. The method for generating a laser ablation catheter end bending control instruction according to claim 1, characterized in that: Calculating the required bending angle of the distal end of the laser ablation catheter according to the current direction further comprises: defining a local coordinate system at the target position, determining a rotation from a reference coordinate system to the local coordinate system, and calculating a target direction reached by the distal end of the catheter according to the target position; Comparing the current direction with the target direction, respectively calculating the rotation differences in pitch, yaw and roll; and obtaining the bending angles in pitch, yaw and roll according to the rotation differences; The bending angle is adjusted according to the minimum bending radius and the maximum bending angle of the laser ablation catheter, and the bending angle is converted into a bending control instruction of the laser ablation catheter.

5. The method for generating a laser ablation catheter end bending control instruction according to claim 4, characterized in that: Obtaining the bending angles in pitch, yaw and roll according to the rotation difference further comprises: Calculating the bending angles in pitch, yaw and roll according to the elements of the rotation difference matrix; Wherein, the bending angle in pitch is: ； in, is the bending angle in pitch, ,···, is the rotation difference matrix Elements of ; is the inverse tangent function; The bending angle on yaw is: ； in, is the bending angle on yaw; The bending angle on the roll is: ； in, is the bending angle in roll.

6. The method for generating a laser ablation catheter end bending control instruction according to claim 5, characterized in that: According to the minimum bending radius and the maximum bending angle of the laser ablation catheter, adjusting the bending angle further comprises: According to the minimum bending radius and the maximum bending angle of the laser ablation catheter, the pitch angle, the yaw angle and the roll angle of the bending angle are adjusted; Wherein, the expression of the pitch angle is: ； in, is the pitch angle, is the maximum bending angle, , is the arc length of the laser ablation catheter, is the minimum bending radius; is a sign function used to keep the bending direction unchanged; The expression of the yaw angle is: ； in, is the yaw angle; The expression of the roll angle is: ； in, is the roll angle.

7. The method for generating a laser ablation catheter end bending control instruction according to claim 6, characterized in that: The converting the bending angle into the bending control instruction of the laser ablation catheter further comprises: Setting a motor control scaling factor to accommodate the physical characteristics of the laser ablation catheter and the response characteristics of the motor; Wherein, the bending control instruction of the servo motor is: ； in, for , or ; The motor control proportional factor corresponding to the pitch angle, yaw angle or roll angle; is the adjusted pitch angle, yaw angle or roll angle.

8. A laser ablation catheter end bending control device, characterized in that: include: An image extraction module, used to obtain image data of the environment where the distal end of the laser ablation catheter is located, and extract characteristic information of the tissue surrounding the distal end of the catheter from the image data; wherein the characteristic information includes geometric features, texture features, color features and depth information; A bending angle calculation module, used to determine the current direction of the distal end of the laser ablation catheter by a combined condition rule method; calculate the required bending angle of the distal end of the laser ablation catheter according to the current direction, and generate a bending control instruction; wherein the combined condition rule includes a geometric feature rule, a texture feature rule, a color feature rule and a depth information rule; The geometric feature rules include a first rule and a second rule, wherein the first rule is: if there is a linear structure in front of the distal end of the catheter, and the direction of the structure forms an acute angle with the current axis of the catheter, then it is determined that the catheter should be bent in the direction of the linear structure; the second rule is: if the distal end of the catheter touches the tissue boundary, and the boundary direction is clear, then it is determined that the catheter should continue to advance along the boundary direction or bend appropriately to bypass the obstacle; The texture feature rules include a third rule and a fourth rule, wherein the third rule is: if the texture of the tissue area in front of the distal end of the catheter shows a highly consistent directionality, it is judged that the catheter should move along the texture direction; the fourth rule is: if the texture feature shows that there is an irregular or rough area in front, it indicates the presence of scar tissue or lesions; The color feature rules include a fifth rule, wherein the fifth rule is: if an area with a color different from that of the surrounding tissue appears in front of the catheter, the direction of the blood vessel is determined according to the color distribution and brightness; The depth information rule includes a sixth rule, wherein the sixth rule is: if the depth information shows that there is a slope or height change in front of the catheter, it is determined that the catheter should adjust the bending angle; The bending control module is used to control the rotation of the shaft of the servo motor according to the bending control instruction, and drive at least two traction wires connected to the servo motor to bend the distal end of the laser ablation catheter to a desired angle.

Images