Interventional Robot Force Feedback System

Abstract

The present application relates to the technical field of vascular interventional robots, and discloses an interventional robot force feedback system, including: the robot master end controller obtains the mass m, first force value and acceleration value of the medical device driving mechanism sent by the robot slave end; wherein the first force value is the resistance value delivered by the slender medical device; the acceleration value represents the acceleration value delivered by the medical device driving mechanism; the first force value is subjected to a first filtering process to obtain a second force value; according to the acceleration value and the mass m of the medical device driving mechanism, the second force value is subjected to a de-interference process to obtain a third force value; the third force value is subjected to a second filtering process to obtain a target feedback force; based on the target feedback force, the actuator applies a target feedback force to the instrument operating member, wherein the direction of the target feedback force is opposite to the movement direction of the instrument operating member. The present application can provide more reliable real-time force feedback.

Description

Technical Field

[0001] The present application relates to the technical field of vascular interventional robots, and in particular to an interventional robot force feedback system. Background Art

[0002] Compared with traditional open surgery, in some cases, patients usually prefer treatment methods with faster recovery and fewer complications, and vascular interventional surgery meets this demand. However, the existing vascular interventional surgery robots do not have a complete force feedback system, which means that when performing delicate surgical operations through interventional robots, doctors cannot obtain sufficient force feedback from the robots to reflect the force on the instruments, thus affecting the accuracy and safety of the surgery.

[0003] Therefore, the problem that existing vascular interventional surgical robots lack a complete force feedback system, resulting in insufficient precision during surgical operations, is an urgent problem that needs to be solved. Summary of the invention

[0004] The main purpose of the present application is to provide an interventional robot force feedback system, aiming to solve the technical problem that the existing vascular interventional surgical robots do not have a perfect force feedback system, resulting in insufficient precision during surgical operations.

[0005] An interventional robot force feedback system, the interventional robot comprising a robot master end and a robot slave end communicatively connected to the robot master end, the robot master end comprising a robot master end controller, an instrument operating member and an actuator connected to the instrument operating member; the robot slave end comprising a medical instrument driving mechanism for clamping a slender medical instrument;

[0006] The robot master end controller obtains the medical device drive mechanism mass m, the first force value and the acceleration value sent by the robot slave end; wherein the first force value is the resistance value delivered by the elongated medical device; and the acceleration value represents the acceleration value delivered by the medical device drive mechanism;

[0007] Performing a first filtering process on the first force value to obtain a second force value;

[0008] According to the acceleration value and the mass m of the medical device driving mechanism, performing interference removal processing on the second force value to obtain a third force value;

[0009] Performing a second filtering process on the third force value to obtain a target feedback force;

[0010] Based on the target feedback force, the actuator is caused to apply the target feedback force to the instrument operating member, wherein the direction of the target feedback force is opposite to the movement direction of the instrument operating member.

[0011] Further, performing a first filtering process on the first force value to obtain a second force value includes:

[0012] The first force value is subjected to a first-order low-pass filtering based on a first-order filtering algorithm formula to obtain the second force value; the first-order filtering algorithm formula is as follows:

[0013] y[n]=a·x[n]+(1-a)·y[n-1]

[0014] Where y[n] is the filtered output at time point n; x[n] is the original input signal at time point n; and a is the filter coefficient, which is between 0 and 1.

[0015] Further, performing interference removal processing on the second force value according to the acceleration value and the mass m of the medical device driving mechanism to obtain a third force value includes:

[0016] The third force value F′ is calculated based on the formula F′=Fm·A, where F is the second force value and A is the acceleration value.

[0017] Furthermore, the robot slave end further comprises a medical device delivery mechanism, a robot slave end controller and a force detection mechanism connected to the robot slave end controller, and the device driving mechanism is installed on the medical device delivery mechanism, keeps in contact with the force detection mechanism in the delivery direction and can move relative to the medical device delivery mechanism in the delivery direction;

[0018] When the force detection mechanism detects that the medical device delivery mechanism encounters resistance when delivering the elongated medical device, the force detection mechanism generates a pressure simulation value corresponding to the resistance and sends it to the robot slave controller;

[0019] The robot slave controller processes the pressure analog quantity to obtain a first force value, and sends the first force value to the robot master controller.

[0020] Furthermore, the robot slave controller processes the pressure analog quantity to obtain a first force value, including:

[0021] The robot slave controller amplifies the pressure analog quantity through an analog amplifier circuit to obtain an amplified analog quantity, and filters the amplified analog quantity through a filter circuit to obtain a filtered analog quantity;

[0022] The filtered analog quantity is input into an analog-to-digital converter for analog-to-digital conversion to obtain the first force value.

[0023] Further, the robot slave end also includes a displacement detection mechanism installed on the medical device delivery mechanism;

[0024] When the slender medical device is not mounted on the medical device driving mechanism, the robot slave controller controls the movement of the medical device delivery mechanism, obtains a no-load pressure value carrying a time signal sent by the force detection mechanism and a plurality of no-load displacement values ​​carrying a time signal sent by the displacement detection mechanism, and obtains a no-load acceleration value based on the plurality of no-load displacement values;

[0025] Based on the time signal, a preset algorithm is used to calculate the no-load acceleration value and the no-load pressure value at the corresponding moment to obtain the mass m of the medical device driving mechanism.

[0026] Furthermore, the performing a second filtering process on the third force value to obtain a target feedback force includes:

[0027] The third force value is processed by moving mean filtering based on the following formula to obtain a fourth force value:

[0028] Where y[] is the output after filtering; x[k] is the original input data; N is the length of the filter; M is the number of data points on one side of the filter window;

[0029] The fourth force value is finely processed to obtain a target feedback force.

[0030] Furthermore, the robot slave end further comprises an elastic member mounted on the medical device delivery mechanism, the elastic member being used to keep the medical device drive mechanism in contact with the force detection mechanism; the fine processing of the fourth force value to obtain the target feedback force comprises:

[0031] Subtracting the pre-acquired spring preload force from the fourth force value to obtain an initial feedback force, wherein the spring preload force is a force that the medical device driving mechanism and the force detection mechanism maintain contact when the medical device delivery mechanism is not started;

[0032] The initial feedback force is multiplied to obtain a target feedback force.

[0033] Furthermore, the robot master end further comprises an operating member controller connected to the robot master end controller, and the operating member controller is used to control the actuator; and the step of causing the actuator to apply the target feedback force to the instrument operating member based on the target feedback force comprises:

[0034] The robot master end controller sends the target feedback force to the operating member controller;

[0035] When receiving the target feedback force, the operating member controller detects whether the touch switch on the instrument operating member is activated;

[0036] When the touch switch on the instrument operating member is activated, the operating member controller controls the actuator to apply a target feedback force to the instrument operating member.

[0037] Furthermore, after the operating part controller controls the actuator to apply the target feedback force to the instrument operating part, the force feedback system also includes: obtaining the real-time feedback force in the movement direction of the instrument operating part, using the PID algorithm to perform closed-loop processing on the target feedback force and the real-time feedback force to obtain the corrective operating force, and the operating part controller controls the actuator to apply the corrective operating force to the instrument operating part, wherein the direction of the corrective operating force is opposite to the movement direction of the instrument operating part.

[0038] Beneficial effects:

[0039] This system obtains the mass, resistance value and acceleration value of the medical device drive mechanism, and performs filtering and interference removal on these values ​​to finally obtain the target feedback force. Using this target feedback force, the actuator can apply the target feedback force to the instrument operating part, thereby helping doctors obtain sufficient force feedback when performing delicate surgical operations, helping doctors better control the delivery process of slender medical devices, and coping with the diversity of vascular morphology and individual differences among patients, thereby improving the accuracy and safety of surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 This is a schematic diagram of the implementation steps of an interventional robot force feedback system according to an embodiment of the present application;

[0041] Figure 2 is a schematic block diagram of the structure of a computer device according to an embodiment of the present application;

[0042] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0044] It will be appreciated by those skilled in the art that, unless expressly stated, the singular forms "one", "above", and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present application refers to the presence of features, integers, steps, operations, elements, modules, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, modules, components, and / or groups thereof. It should be understood that when an element is said to be "connected" or "coupled" to another element, it may be directly connected or coupled to the other element, or there may also be an intermediate element. In addition, the "connection" or "coupling" used herein may include wireless connection or wireless coupling. The term "and / or" used herein includes all or any module and all combinations of one or more associated listed items.

[0045] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as those generally understood by those skilled in the art to which this application belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with those in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless specifically defined as here.

[0046] Reference Figure 1 The present application provides an interventional robot force feedback system, wherein the interventional robot comprises a robot master end and a robot slave end communicatively connected to the robot master end, the robot master end comprises a robot master end controller, an instrument operating member and an actuator connected to the instrument operating member; the robot slave end comprises a medical instrument driving mechanism for clamping a slender medical instrument. Based on this, the system comprises the following steps:

[0047] S1: The robot master controller obtains the mass m, the first force value and the acceleration value of the medical device driving mechanism sent by the robot slave; wherein the first force value is the resistance value delivered by the slender medical device; and the acceleration value represents the acceleration value delivered by the medical device driving mechanism;

[0048] First of all, the interventional robot force feedback system is a system used to assist vascular interventional surgery, in which the robot master end is responsible for logic control and calculation, the instrument operating parts are used by doctors to manipulate medical devices, and the robot slave end is used to clamp slender medical devices. The robot slave end includes a catheter control mechanism and a guidewire control mechanism. The catheter control mechanism and the guidewire control mechanism are rigidly connected, and the catheter control mechanism and the guidewire control mechanism are each equipped with a corresponding robot slave end controller. In vascular interventional surgery, the medical device drive mechanism is used to deliver medical devices, such as guidewires, into the patient's body. In this step, the robot master end controller obtains the mass m, the first force value, and the acceleration value of the medical device drive mechanism sent by the robot slave end through communication with the robot slave end. It can be understood that the robot slave end can be equipped with multiple catheter control mechanisms independent of the guidewire control mechanism as needed,

[0049] In step S1, the medical device driving mechanism is installed on the guide wire control mechanism for clamping the guide wire. First, the robot slave end will collect the relevant operation data of the medical device driving mechanism during the operation in real time. This includes the resistance value (first force value) encountered when the slender medical device is delivered and the delivery acceleration value of the medical device driving mechanism, and the first force value and acceleration value are detected in the same time period. The first force value represents the value of the resistance encountered when the slender medical device is delivered, and this value can reflect the magnitude of the resistance encountered when the device moves in the patient's body. The acceleration value represents the magnitude of the acceleration when the medical device driving mechanism is delivered, which can be used to calculate the rate of change of force and reflect the motion state of the medical device more quickly. These data can be obtained by sensors or measuring devices for accurately monitoring and controlling the movement and operation of the robot slave end. Among them, the acceleration value can be obtained by collecting the magnetic scale displacement encoder information when the guide wire control mechanism moves at fixed time intervals, obtaining the displacement at different times, and then calculating the acceleration through the displacement. One acceleration can be calculated for every three displacement values ​​collected to obtain the acceleration value of the robot slave end. The collected data is transmitted to the robot master end through a communication connection. This communication connection ensures that the data can be transmitted from the robot slave end to the robot master end in real time and accurately. After the robot master end controller receives the mass m, the first force value and the acceleration value of the medical device drive mechanism sent by the robot slave end, it will further process these data. In this step, by obtaining the mass, the first force value and the acceleration value of the medical device drive mechanism sent by the robot slave end, the main controller can monitor and understand the movement and force conditions of the slender medical device in the patient's body in real time. This can help doctors better grasp the force perception feedback information during the surgical operation and improve the accuracy and safety of the operation. At the same time, these data can also be used to record and analyze the surgical process, helping doctors to continuously improve surgical operation techniques and improve treatment effects.

[0050] S2: Perform a first filtering process on the first force value to obtain a second force value.

[0051] In step S2, the first force value is the value of the resistance encountered when the slender medical device is delivered, which reflects the magnitude of the resistance encountered when the device moves in the patient's body. In step S2, the first force value is subjected to a first filtering process, the purpose of which is to remove noise and interference in the data and obtain a more real and accurate second force value. Among them, the first force value is subjected to filtering process, and the appropriate filtering method and parameters can be selected according to the specific situation. The filtering process also has the functions of smoothing the data curve, extracting effective information, and reducing fluctuations, which helps doctors better understand and grasp the movement state and force condition of the medical device in the patient's body, and provides an important reference for surgical operations.

[0052] S3: performing interference removal processing on the second force value according to the acceleration value and the mass m of the medical device driving mechanism to obtain a third force value;

[0053] In step S3, the second force value may be affected by a variety of interference factors, such as acceleration changes, vibration of the medical device itself, etc. In step S3, the second force value is de-interferenced according to the acceleration value and the mass m of the medical device drive mechanism, the purpose of which is to eliminate these interference factors and obtain a more accurate and reliable third force value. When the medical device moves in the patient's body, it will be affected by acceleration, which may interfere with the force value data. According to Newton's second law F=ma, acceleration and mass can affect the calculation of force value. Therefore, in the de-interference process, it is necessary to perform corresponding calculations and corrections according to the acceleration value and the mass m of the medical device drive mechanism. For example, the inertial force received can be calculated according to the acceleration value and mass using Newton's second law, and then this part of the interference can be subtracted from the second force value to obtain a more accurate third force value. Through step S3, the influence of external interference factors can be effectively eliminated to obtain a more real and reliable third force value. By obtaining accurate force value data, the real force received by the medical device in the patient's body can be better understood, the influence of factors such as the vibration of the medical device itself on the force value data can be eliminated, and the accuracy and stability of the data can be improved. By obtaining more accurate third force values, doctors can better understand the movement and force conditions of medical devices in the patient's body, provide more reliable reference for surgical operations, and improve the success rate and safety of surgical operations.

[0054] S4: Perform a second filtering process on the third force value to obtain a target feedback force.

[0055] In step S4, in step S4, the third force value will be subjected to a second filtering process. The filtering process here can use different types of filters, such as Kalman filter, Butterworth filter, etc., and the specific selection will be based on system requirements and performance requirements. The second filtering process aims to further optimize the feedback force data, remove residual noise and interference, and make the target feedback force more accurate and stable. According to the filtered target feedback force, the system can adjust the robot operation in real time to ensure a more accurate grasp of the force conditions during interventional surgery.

[0056] S5: Based on the target feedback force, the actuator applies a target feedback force to the instrument operating member, wherein the direction of the target feedback force is opposite to the movement direction of the instrument operating member.

[0057] In step S5, according to the magnitude and direction of the target feedback force, the actuator will dynamically adjust the force applied to the instrument operating part to achieve precise control of the instrument, wherein the actuator can apply the target feedback force to the instrument operating part by means of a motor, hydraulic or pneumatic system, etc. The direction of the target feedback force is opposite to the direction of movement of the instrument operating part, which helps to stabilize the movement of the instrument operating part and provides better force perception support for the doctor to operate, so that the doctor can better perceive the force condition of the instrument and better master the surgical operation. In summary, through step S5, the actuator can apply feedback force to the instrument operating part based on the target feedback force to achieve precise control of the movement of the instrument operating part. It helps doctors to operate medical devices more accurately during minimally invasive surgery, improve surgical accuracy and safety, help doctors better perceive the movement state of the instrument in the patient's body, prevent patient injuries caused by operating errors, and improve the safety of surgery. In this embodiment, the instrument operating part can be an operating rod.

[0058] Through steps S1-S5, the present application monitors the force of the medical device in the patient's body in real time through sensors. Then the collected force data is processed, a series of processes to remove interference factors are performed, and a more accurate and reliable third force value is obtained, and then the third force value (i.e., the target feedback force) after the second filtering process is applied to the instrument operating member through the actuator. Such data processing can help doctors understand the force of the instrument in the body more clearly and provide a more accurate reference for the surgical process. The third force value is then fed back to the doctor and force perception feedback is provided. This feedback is crucial for doctors to adjust their operating strategies and reasonably allocate the application points and directions of force during surgery. Force perception feedback enables doctors to more intuitively and accurately perceive the force of the medical device in the patient's body, thereby improving the safety and success rate of surgery.

[0059] In one embodiment, performing a first filtering process on the first force value to obtain a second force value includes:

[0060] S10: Performing a first-order low-pass filter on the first force value based on a first-order filtering algorithm formula to obtain the second force value; the first-order filtering algorithm formula is as follows:

[0061] y[n]=a·x[n]+(1-a)·y[n-1]

[0062] Where y[n] is the filtered output at time point n; x[n] is the original input signal at time point n; and a is the filter coefficient, which is between 0 and 1.

[0063] In this embodiment, the first force value is subjected to the first filtering process, that is, the second force value is obtained by the first-order low-pass filtering algorithm formula. The algorithm formula can be used to filter the first force value, wherein y[n] represents the filtering output at time point n, that is, the second force value corresponding to time point n. x[n] represents the original input signal at time point n, that is, the first force value corresponding to time point n. a represents the filter coefficient, and its value is between 0 and 1. When a is small (close to 0), the filter responds slowly to the change of input, the output is smoother, but the delay is large. When a is large (close to 1), the filter responds faster to the change of input, but the smoothing effect is weakened and the noise suppression ability is reduced. The specific value can be selected according to the actual situation. The specific operation is to substitute the first force value into the first-order filtering algorithm formula, and the second force value can be obtained by calculating the formula. This order low-pass filtering process helps to filter out high-frequency noise and smooth the change of force value, so as to obtain a more stable and accurate second force value. The purpose of this order low-pass filtering process is to smooth the original input signal, eliminate noise interference, and retain the main characteristics of the signal. Through this processing, a more stable and reliable second force value can be obtained, providing more accurate data support for subsequent medical device operation and force feedback.

[0064] In one embodiment, performing interference removal processing on the second force value according to the acceleration value and the mass m of the medical device driving mechanism to obtain a third force value includes:

[0065] S20: Calculate a third force value F′ based on the formula F′=Fm·A, where F is the second force value and A is the acceleration value.

[0066] In this embodiment, the second force value is de-interferenceed according to the acceleration value and the mass m of the medical device drive mechanism to obtain a third force value. This process includes calculating the third force value F' using the formula F'=Fm·A, where F represents the second force value and A is the acceleration value. The specific operation is to substitute the second force value F and the acceleration value A into the above formula for calculation to obtain the third force value F' after removing the interference. Through this step, the interference of the acceleration value on the second force value can be eliminated, and a more accurate and reliable third force value can be obtained. This de-interference process can help ensure that the obtained force value is more accurate and stable, and provide more reliable data support for subsequent surgical operations. By de-interference processing of the second force value, the third force value is more practical, which helps to improve the operating accuracy and safety of medical devices.

[0067] In one embodiment, the robot slave end further includes a medical device delivery mechanism, a robot slave end controller and a force detection mechanism connected to the robot slave end controller, the device driving mechanism is installed on the medical device delivery mechanism, keeps abutment with the force detection mechanism in the delivery direction and can move relative to the medical device delivery mechanism in the delivery direction; and further includes:

[0068] S30: When the force detection mechanism detects that the medical device delivery mechanism encounters resistance when delivering the slender medical device, the force detection mechanism generates a pressure simulation value corresponding to the resistance and sends it to the robot slave controller;

[0069] S31: The robot slave controller processes the pressure analog quantity to obtain a first force value, and sends the first force value to the robot master controller.

[0070] In this embodiment, the medical device driving mechanism is installed on the medical device delivery mechanism, and the medical device delivery mechanism is installed on the linear frame as a power device. By driving the device delivery mechanism and the device driving mechanism to move linearly along the linear frame, the delivery of the slender medical device is achieved. This design can ensure the stability and accuracy of the medical device during operation. The device driving mechanism consists of a mounting plate and a clamping assembly. The mounting plate is mounted on the slide groove of the medical device delivery mechanism and can slide along the delivery direction. The clamping assembly is connected to the power assembly of the medical device delivery mechanism, and the power assembly drives the clamping assembly to clamp or release the slender medical device. Such a design enables the robot to clamp and rotate the medical device, and can accurately control and operate the position and angle of the medical device. The force detection mechanism is installed on the housing of the medical device delivery mechanism along the delivery direction, and is kept in contact with the device driving mechanism. Its function is to detect the resistance of the medical device, and when the resistance is detected, a corresponding pressure simulation is generated and sent to the robot slave controller.

[0071] When the force detection mechanism detects that the medical device delivery mechanism encounters resistance when delivering a slender medical device, it will generate a corresponding pressure simulation according to the resistance encountered, and send the pressure simulation to the robot slave controller. The purpose of this step is to perceive the resistance of the medical device in real time so as to adjust the operation of the robot in time. Then, after receiving the pressure simulation, the robot slave controller will process it, obtain the first force value of the medical device after processing, and send this first force value to the robot master controller. The purpose of this step is to obtain the specific force value of the medical device by processing the pressure simulation, so as to provide accurate feedback on the robot operation status to the robot master controller.

[0072] Through this embodiment, the robot can sense the force of the medical device during operation, and process and feedback the force. When the medical device is subject to resistance or other external interference, the robot can make timely adjustments to ensure the accuracy and safety of the medical operation. At the same time, this feedback mechanism also provides important support for the intelligence and adaptability of the robot operation.

[0073] In one embodiment, the robot slave controller processes the pressure analog quantity to obtain a first force value, including:

[0074] S40: the robot slave controller amplifies the pressure analog quantity through an analog amplifier circuit to obtain an amplified analog quantity, and filters the amplified analog quantity through a filter circuit to obtain a filtered analog quantity;

[0075] S41: Input the filtered analog quantity into an analog-to-digital converter for analog-to-digital conversion to obtain the first force value.

[0076] In this embodiment, first, the robot slave controller amplifies the input pressure analog quantity through the analog amplifier circuit to convert it into a larger amplified analog quantity and enhance the amplitude of the pressure signal. Then, the amplified analog quantity is input into the filter circuit to obtain the filtered analog quantity, so as to screen out the amplified analog quantity of a specific frequency as the filtered analog quantity for subsequent processing and conversion. The filtered analog quantity is input into the analog-to-digital converter, and the digital first force value is obtained after the analog-to-digital conversion process. The analog-to-digital converter converts the analog signal into a digital signal, so that the first force value obtained can be processed and transmitted by the digital system. Through this embodiment, the robot slave controller can accurately obtain and process the pressure analog quantity through the process of amplifying and converting the signal to obtain the digital first force value. This processing process enables the controller to accurately obtain force information and provides reliable force feedback for robot operation. At the same time, the digital first force value can also be processed and interacted by other systems to achieve more accurate and efficient control.

[0077] In one embodiment, the robot slave end further comprises a displacement detection mechanism mounted on the medical device delivery mechanism;

[0078] S50: when the slender medical device is not mounted on the medical device driving mechanism, the robot slave controller controls the medical device delivery mechanism to move, and obtains a no-load pressure value carrying a time signal sent by the force detection mechanism and a plurality of no-load displacement values ​​carrying a time signal sent by the displacement detection mechanism, and obtains a no-load acceleration value based on the plurality of no-load displacement values;

[0079] S51: Based on the time signal, a preset algorithm is used to calculate the no-load acceleration value and the no-load pressure value at the corresponding moment to obtain the mass m of the medical device driving mechanism.

[0080] In this embodiment, when the slender medical device is not installed on the medical device driving mechanism, the robot slave end controller will first control the medical device delivery mechanism to move and obtain the following data: the no-load pressure value containing the time signal sent by the force detection mechanism: this data comes from the force detection mechanism, and can measure the pressure received by the medical device delivery mechanism during the movement; a number of no-load displacement values ​​with time signals sent by the displacement detection mechanism: this data comes from the displacement detection mechanism, and can measure the displacement value of the medical device delivery mechanism, so as to know its relative position change. After obtaining the above data, the no-load acceleration value is calculated based on these no-load displacement values. First, based on the time signal, the no-load acceleration value and no-load pressure value at the corresponding moment are calculated by using a preset algorithm to obtain the mass m of the medical device driving mechanism. The specific steps may include: controlling the medical device driving mechanism on the slave end of the robot to be no-load, and collecting displacement data S1, S2, S3 during the movement, then v1 = S2-S1, v2 = S3-S2, a (acceleration) = v2-v1; based on the displacement data, the acceleration series A is obtained 空 , collect pressure sensor data F 空 ; Let m be the independent variable, and substitute make The minimum value is taken to obtain m, which is the m value corresponding to the minimum root mean square error, that is, the mass m of the medical device drive mechanism. This step uses information such as displacement, acceleration, and pressure, and combines it with a preset algorithm for processing to obtain the mass value of the medical device drive mechanism. The preset algorithm includes using the least squares method to calculate and obtain the mass m of the medical device drive mechanism.

[0081] In one embodiment, performing a second filtering process on the third force value to obtain a target feedback force includes:

[0082] S60: Perform moving mean filtering on the third force value based on the following formula to obtain a fourth force value:

[0083] Where y[i] is the output after filtering; x[k] is the original input data; N is the length of the filter; M is the number of data points on one side of the filter window;

[0084] S61: Perform fine processing on the fourth force value to obtain a target feedback force.

[0085] In this embodiment, y[i] is the output after filtering; x[k] is the original input data; M is the number of data points on one side of the filter window, and N is the length of the filter, which is usually 2M+1, that is, the number of points from iM to i+M. Moving mean filtering can help smooth the original data, reduce the impact of noise and mutations, and improve the stability and reliability of the data. In this embodiment, through steps S60 and S61, the original data is filtered and further refined, and the target feedback force is finally obtained. These processing processes help to improve data quality and availability, and provide reliable data support for subsequent applications.

[0086] In one embodiment, the robot slave end further includes an elastic member mounted on the medical device delivery mechanism, and the elastic member is used to keep the medical device driving mechanism in contact with the force detection mechanism; the fine processing of the fourth force value to obtain the target feedback force includes:

[0087] S70: subtracting the pre-acquired spring preload force from the fourth force value to obtain an initial feedback force, wherein the spring preload force is a force that the medical device driving mechanism and the force detection mechanism maintain contact when the medical device delivery mechanism is not started;

[0088] S71: multiplying the initial feedback force to obtain a target feedback force.

[0089] In this embodiment, the robot slave end includes an elastic member installed on the medical device delivery mechanism, which is used to keep the medical device drive mechanism and the force detection mechanism in contact. First, the fourth force value is subtracted from the pre-acquired spring preload. This spring preload is the force that the medical device drive mechanism and the force detection mechanism keep in contact when the medical device delivery mechanism is not started. The initial feedback force obtained in this way can more accurately represent the influence of external forces on the medical device during movement. Then, the initial feedback force is multiplied to obtain the target feedback force. This multiplication process may be to amplify or reduce the initial feedback force in order to better adapt to the control requirements of the medical device drive mechanism and provide a more appropriate feedback signal, preferably multiplied by a specified multiplication coefficient. Among them, since different interventional instruments generate different forces under the same deformation, it is necessary to set multiplication processes for different instruments. Experimental methods can be used to bend instruments such as guidewires and micro-guidewires at the same angle, collect corresponding change forces respectively, and then set different multiplication coefficients to keep the collected change forces the same to determine the setting value of the multiplication. Therefore, the initial feedback force is obtained by subtracting the spring preload force from the fourth force value, and then the target feedback force is obtained by multiplying the initial feedback force. This processing method helps to accurately reflect the external force on the medical device and provide a suitable feedback signal, thereby better controlling the medical device.

[0090] In one embodiment, the robot master end further includes an operating member controller connected to the robot master end controller, and the operating member controller is used to control the actuator; and the step of causing the actuator to apply the target feedback force to the instrument operating member based on the target feedback force includes:

[0091] The robot master end controller sends the target feedback force to the operating member controller;

[0092] When receiving the target feedback force, the operating member controller detects whether the touch switch on the instrument operating member is activated;

[0093] When the touch switch on the instrument operating member is activated, the operating member controller controls the actuator to apply a target feedback force to the instrument operating member.

[0094] In this embodiment, the robot master end includes an operating member controller connected to the robot master end controller, which is used to control the actuator, wherein the actuator is a motor, and the motor is connected to the instrument operating member. By using the target feedback force, the actuator can apply the required feedback force to the instrument operating member. First, the robot master end controller sends the calculated target feedback force to the operating member controller. After receiving the target feedback force, the operating member controller detects whether the touch switch on the instrument operating member is in the start state, wherein the touch switch may include a capacitive sensor set on the instrument operating member. When the capacitive sensor recognizes the corresponding current passing through, it is determined that the current medical staff holds the instrument operating member to start. By using the capacitive sensor to detect the medical staff's holding of the instrument operating member, the robot can know the medical staff's operating intention in real time. When the capacitive sensor detects that the medical staff holds the instrument operating member, the corresponding component startup process can be triggered immediately without waiting for the input of other signals or instructions, thereby significantly improving the robot's response speed to the medical staff's operation.

[0095] In addition, the GUI is rendered on the robot main display screen, which can generate corresponding color changes according to the changes in the force detection value to remind the doctor. A peeling function button is also provided, that is, during the operation, the doctor can click this button to use the current force feedback value as the starting value 0 and pay attention to the subsequent force changes.

[0096] In one embodiment, after the operating member controller controls the actuator to apply the target feedback force to the instrument operating member, the force feedback system further includes: obtaining the real-time feedback force in the movement direction of the instrument operating member, using a PID algorithm to perform closed-loop processing on the target feedback force and the real-time feedback force to obtain the corrective operating force, and the operating member controller controls the actuator to apply the corrective operating force to the instrument operating member, wherein the direction of the corrective operating force is opposite to the movement direction of the instrument operating member.

[0097] In this embodiment, the system obtains the real-time feedback force of the instrument operating part in the direction of movement, and the operating rod controller controls the motor (or brushless motor) through the motor drive board (or brushless motor drive board) to make it run in the torque mode, continuously adjust the torque current, and use the PID (Proportional-Integral-Derivative Controller) algorithm to compare and calculate the target feedback force and the real-time feedback force to obtain the correction operation force, realize adaptive adjustment, and make the real-time feedback force and the target feedback force keep synchronization and equality. The function of the correction operation force is to correct the external interference force or error force received by the instrument operating part during the movement process, so as to maintain the stability and accuracy of the operation. Finally, the operating part controller instructs the actuator according to the obtained correction operation force, so that it applies the correction operation force to the instrument operating part. In this way, the system realizes real-time control of the instrument operating part by applying the correction operation force, and ensures the accuracy and stability of the operation. Through the above steps, the force feedback system can perform closed-loop processing according to the real-time feedback force and the target feedback force, so that the instrument operating part can be corrected and adjusted in time during the movement process, and the operation is stable and accurate. This approach can help medical robotic systems improve operational accuracy and robustness, and enhance the system's adaptability to different working environments and interferences.

[0098] Reference Figure 2 In the embodiment of the present application, a computer device is also provided. The computer device may be a server, and its internal structure may be as follows: Figure 2As shown. The computer device includes a processor, a memory, a network interface and a database connected by a bus. Among them, the processor designed by the computer is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores operations, computer programs and databases. The memory provides an environment for the operation of the operations and computer programs in the non-volatile storage medium. The database of the computer device is used to store data such as the interventional robot force feedback system. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by a processor, an interventional robot force feedback system is implemented, comprising the following steps: the robot master end controller obtains the mass m of the medical device drive mechanism, a first force value and an acceleration value sent by the robot slave end; wherein the first force value is the resistance value delivered by the slender medical device; the acceleration value represents the acceleration value delivered by the medical device drive mechanism; the first force value is subjected to a first filtering process to obtain a second force value; according to the acceleration value and the mass m of the medical device drive mechanism, the second force value is subjected to an interference removal process to obtain a third force value; the third force value is subjected to a second filtering process to obtain a target feedback force; based on the target feedback force, the actuator applies a target feedback force to the instrument operating member, wherein the direction of the target feedback force is opposite to the movement direction of the instrument operating member.

[0099] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, an interventional robot force feedback system is implemented, comprising the following steps: the robot master-end controller obtains the mass m of a medical device drive mechanism, a first force value and an acceleration value sent by a robot slave end; wherein the first force value is the resistance value delivered by the slender medical device; the acceleration value represents the acceleration value delivered by the medical device drive mechanism; the first force value is subjected to a first filtering process to obtain a second force value; according to the acceleration value and the mass m of the medical device drive mechanism, the second force value is subjected to an interference removal process to obtain a third force value; the third force value is subjected to a second filtering process to obtain a target feedback force; based on the target feedback force, the actuator applies a target feedback force to the instrument operating member, wherein the direction of the target feedback force is opposite to the movement direction of the instrument operating member.

[0100] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing related hardware through a computer program, and the computer program can be stored in a computer-readable storage medium, and the computer program can include the processes of the embodiments of the above-mentioned methods when executed. Among them, any reference to memory, storage, database or other media provided by the present application and used in the embodiments can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROm), electrically programmable ROM (EPROm), electrically erasable programmable ROM (EEPROm) or flash memory. Volatile memory can include random access memory (RAm) or external cache memory. By way of illustration and not limitation, RAm is available in a variety of forms, such as static RAm (SRAm), dynamic RAm (DRAm), synchronous DRAm (SDRAm), double-speed data rate SDRAm (SSRSDRAm), enhanced SDRAm (ESDRAm), synchronous link (Synchlink) DRAm (SLDRAm), memory bus (Rambus) direct RAm (RDRAm), direct memory bus dynamic RAm (DRDRAm), and memory bus dynamic RAm (RDRAm).

[0101] The above description is only a preferred embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. An interventional robot force feedback system, the interventional robot comprising a robot master end and a robot slave end communicatively connected to the robot master end, the robot master end comprising a robot master end controller, an instrument operating member and an actuator connected to the instrument operating member; the robot slave end comprising a medical instrument driving mechanism for clamping a slender medical instrument; characterized in that: The force feedback system is used to perform the following steps: Based on the robot master controller, the mass m, the first force value and the acceleration value of the medical device driving mechanism sent by the robot slave are obtained; wherein the first force value is the resistance value delivered by the elongated medical device; and the acceleration value represents the acceleration value delivered by the medical device driving mechanism; Performing a first filtering process on the first force value to obtain a second force value; According to the acceleration value and the mass m of the medical device driving mechanism, performing interference removal processing on the second force value to obtain a third force value; Performing a second filtering process on the third force value to obtain a target feedback force; Based on the target feedback force, the actuator is caused to apply the target feedback force to the instrument operating member, wherein the direction of the target feedback force is opposite to the movement direction of the instrument operating member.

2. The interventional robot force feedback system according to claim 1, characterized in that: The performing a first filtering process on the first force value to obtain a second force value includes: The first force value is subjected to a first-order low-pass filtering based on a first-order filtering algorithm formula to obtain the second force value; the first-order filtering algorithm formula is as follows: y[n]=a·x[n]+(1-a)·y[n-1] Where y[n] is the filtered output at time point n; x[n] is the original input signal at time point n; and a is the filter coefficient, which is between 0 and 1.

3. The interventional robot force feedback system according to claim 1, characterized in that: The step of performing interference removal processing on the second force value according to the acceleration value and the mass m of the medical device driving mechanism to obtain a third force value includes: The third force value F′ is calculated based on the formula F′=F−m·A, where F is the second force value and A is the acceleration value.

4. The interventional robot force feedback system according to claim 1, characterized in that: The robot slave end further comprises a medical device delivery mechanism, a robot slave end controller and a force detection mechanism connected to the robot slave end controller, the device driving mechanism is mounted on the medical device delivery mechanism, keeps in contact with the force detection mechanism in the delivery direction and can move relative to the medical device delivery mechanism in the delivery direction; When the force detection mechanism detects that the medical device delivery mechanism encounters resistance when delivering the elongated medical device, the force detection mechanism generates a pressure simulation value corresponding to the resistance and sends it to the robot slave controller; The robot slave controller processes the pressure analog quantity to obtain a first force value, and sends the first force value to the robot master controller.

5. The interventional robot force feedback system according to claim 4, characterized in that: The robot slave controller processes the pressure analog quantity to obtain a first force value, including: The robot slave controller amplifies the pressure analog quantity through an analog amplifier circuit to obtain an amplified analog quantity, and filters the amplified analog quantity through a filter circuit to obtain a filtered analog quantity; The filtered analog quantity is input into an analog-to-digital converter for analog-to-digital conversion to obtain the first force value.

6. The interventional robot force feedback system according to claim 4, characterized in that: The robot slave end also includes a displacement detection mechanism mounted on the medical device delivery mechanism; When the slender medical device is not mounted on the medical device driving mechanism, the robot slave controller controls the movement of the medical device delivery mechanism, obtains a no-load pressure value carrying a time signal sent by the force detection mechanism and a plurality of no-load displacement values ​​carrying a time signal sent by the displacement detection mechanism, and obtains a no-load acceleration value based on the plurality of no-load displacement values; Based on the time signal, a preset algorithm is used to calculate the no-load acceleration value and the no-load pressure value at the corresponding moment to obtain the mass m of the medical device driving mechanism.

7. The interventional robot force feedback system according to claim 4, characterized in that: The performing a second filtering process on the third force value to obtain a target feedback force includes: The third force value is processed by moving mean filtering based on the following formula to obtain a fourth force value: ; Among them, y[ ] is the output after filtering; x[k] is the original input data; N is the length of the filter; M is the number of data points on one side of the filter window; performing fine processing on the fourth force value to obtain a target feedback force; The robot slave end further includes an elastic member mounted on the medical device delivery mechanism, and the elastic member is used to keep the medical device driving mechanism in contact with the force detection mechanism; the fourth force value is finely processed to obtain the target feedback force, including: Subtracting the pre-acquired spring preload force from the fourth force value to obtain an initial feedback force, wherein the spring preload force is a force that the medical device driving mechanism and the force detection mechanism maintain contact when the medical device delivery mechanism is not started; The initial feedback force is multiplied to obtain a target feedback force.

8. The interventional robot force feedback system according to claim 1, characterized in that: The robot master end further includes an operating member controller connected to the robot master end controller, and the operating member controller is used to control the actuator; based on the target feedback force, the actuator applies the target feedback force to the instrument operating member, including: The robot master end controller sends the target feedback force to the operating member controller; When receiving the target feedback force, the operating member controller detects whether the touch switch on the instrument operating member is activated; When the touch switch on the instrument operating member is activated, the operating member controller controls the actuator to apply a target feedback force to the instrument operating member.

9. The interventional robot force feedback system according to claim 8, characterized in that: After the operating part controller controls the actuator to apply the target feedback force to the instrument operating part, the force feedback system further includes: obtaining the real-time feedback force in the movement direction of the instrument operating part, using the PID algorithm to perform closed-loop processing on the target feedback force and the real-time feedback force to obtain the corrective operating force, and the operating part controller controls the actuator to apply the corrective operating force to the instrument operating part, wherein the direction of the corrective operating force is opposite to the movement direction of the instrument operating part.

Images