An intervention robot delivery force control system, device and readable storage medium

Abstract

The application relates to the technical field of robot control, and provides an interventional robot delivery force control system, equipment and a readable storage medium. The system processes expected delivery force and initial delivery force, obtains control parameters, adjusts real-time clamping force of the interventional robot on the interventional instrument based on the control parameters, and changes the delivery force of the interventional robot on the interventional instrument to follow the real-time clamping force, so that the delivery force of the interventional robot is automatically and flexibly adjusted, the interventional robot can safely and accurately deliver the interventional instrument, and the interventional instrument is prevented from being damaged.

Description

Technical Field

[0001] This application relates to the field of robot control technology, and in particular to a delivery force control system, device and readable storage medium for an interventional robot. Background Technology

[0002] Interventional robots have greatly advanced medical technology, providing patients with safer, more effective, and faster-recovery treatment options, while also expanding the boundaries of healthcare services.

[0003] However, current interventional robots lack an effective delivery force adjustment mechanism during the delivery of interventional instruments, which limits operational safety and precise control capabilities, thus restricting the development of interventional robots. Summary of the Invention

[0004] Therefore, it is necessary to provide a delivery force control system, device, and readable storage medium that can adjust the delivery force of interventional devices in order to address the above-mentioned technical problems.

[0005] In a first aspect, embodiments of this application provide a delivery force control system for an interventional robot, including the following steps executed by a processor:

[0006] S10: Obtain the desired delivery force and initial delivery force of the interventional device;

[0007] S20: Process the desired delivery force and the initial delivery force to obtain control parameters;

[0008] S30: Adjust the real-time clamping force of the interventional robot on the interventional instrument based on the control parameters; the delivery force of the interventional robot on the interventional instrument follows the change of the real-time clamping force;

[0009] S40: Obtain the current delivery force and determine whether the current delivery force is equal to the expected delivery force;

[0010] S50: If the current delivery force is not equal to the expected delivery force, then the current delivery force is determined as the initial delivery force, and S20-S40 are repeated; if the current delivery force is equal to the expected delivery force, the delivery of the interventional device is controlled by the expected delivery force.

[0011] Preferably, between steps S20 and S30, the method further includes:

[0012] Get the upper limit clamping force and the current clamping force;

[0013] The upper limit clamping force and the current clamping force are compared to obtain the comparison result, and it is determined whether the comparison result meets the execution conditions.

[0014] If the comparison result meets the execution condition, then step S30 is executed; if the comparison result does not meet the execution condition, then the intervention robot is controlled to execute a preset clamping strategy.

[0015] Preferably, if the comparison result is that the current clamping force is less than the upper limit clamping force, the comparison result satisfies the execution condition; if the comparison result is that the current clamping force is not less than the upper limit clamping force, the comparison result does not satisfy the execution condition.

[0016] Preferably, between steps S10 and S20, the method further includes:

[0017] Determine whether the initial delivery force is zero;

[0018] If the initial delivery force is zero, the interventional robot is controlled to clamp the interventional device with a preset clamping force; if the initial delivery force is not zero, step S20 is executed.

[0019] Preferably, before step S10, the method further includes:

[0020] The interventional robot is controlled to deliver the interventional instrument at a constant speed.

[0021] During the uniform delivery process, the effective delivery force of the interventional robot on the interventional instrument is obtained;

[0022] Based on the effective delivery force, the effective clamping force and effective clamping distance are obtained;

[0023] Based on the effective clamping force and the effective clamping distance, the device model of the interventional device is determined;

[0024] Based on the device model, the expected delivery force of the interventional device is obtained.

[0025] Preferably, during the process of obtaining uniform-speed delivery, the effective delivery force of the interventional robot on the interventional instrument; based on the effective delivery force, obtaining the effective clamping force and the effective clamping distance includes:

[0026] During the uniform delivery process, several data sets of the interventional robot's operation on the interventional device are obtained, and each data set includes the test delivery force, test clamping force and test clamping distance at the same moment;

[0027] The test delivery force within a preset range is selected from the test delivery forces as the effective delivery force, the test clamping force corresponding to the effective delivery force is determined as the effective clamping force, and the test clamping distance corresponding to the effective delivery force is determined as the effective clamping distance.

[0028] Preferably, obtaining the expected delivery force of the interventional device based on the device model includes:

[0029] Based on the device model, determine the Young's modulus of the interventional device;

[0030] Based on the Young's modulus of the device, the expected delivery force of the interventional device is obtained.

[0031] Secondly, embodiments of this application provide a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps performed by the processor described above.

[0032] Thirdly, embodiments of this application provide a computer-readable storage medium storing a computer program, characterized in that the computer program, when executed by a processor, implements the steps described above executed by the processor.

[0033] The technical effects achieved by this application, which differ from the prior art, are as follows: control parameters are obtained by using the expected delivery force and the initial delivery force, and the real-time clamping force of the interventional robot on the interventional device is adjusted using the control parameters. The real-time clamping force on the interventional device is adaptively adjusted, and the delivery force of the interventional robot on the interventional device also changes compliantly with the change of the real-time clamping force. This achieves automatic and compliant adjustment of the delivery force of the interventional robot, so as to enable the interventional robot to deliver the interventional device safely and accurately, improve the operational safety and precise control capability of the interventional robot, and avoid damage to the interventional device. Attached Figure Description

[0034] Figure 1 A schematic diagram of processor execution in a delivery force control system for an interventional robot provided in this application;

[0035] Figure 2 Another schematic diagram illustrating the processor execution of a delivery force control system for an interventional robot provided in this application;

[0036] Figure 3 This is a schematic diagram of the structure of a computer device provided in this application. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0038] like Figure 1 As shown, this application provides a delivery force control system for an interventional robot, including the following steps executed by a processor:

[0039] S10: Obtain the desired delivery force and initial delivery force of the interventional device.

[0040] Interventional devices refer to various slender medical devices such as catheters and guidewires used in interventional procedures. These devices are inserted into the vascular system via minimally invasive methods for diagnostic (e.g., angiography) or therapeutic (e.g., angioplasty, stent implantation) purposes.

[0041] The expected delivery force refers to the pushing or pulling force applied by the interventional robot to the interventional device under a pre-set ideal state during interventional surgery. Specifically, when the interventional robot executes the program to control the interventional device to enter the body, the delivery force is a pushing force; when the interventional robot executes the program to control the interventional device to withdraw from the body, the delivery force is a pulling force. There are various types of interventional devices, and different interventional devices have their own corresponding expected delivery forces. In this embodiment, the expected delivery force can be a fixed value or a value within a certain range, and is not limited here.

[0042] The interventional robot of this application includes a clamping structure, a delivery structure, a clamping force detection structure, and a delivery force detection structure. The clamping structure is used to clamp the interventional device. The clamping force detection structure is used to detect the clamping force of the interventional robot on the interventional device and send it to a processor. The delivery structure is used to drive the clamping structure forward, allowing the interventional device to enter the human body; or to drive the clamping structure backward, allowing the interventional device to be withdrawn from the human body. The delivery force detection structure is used to detect the delivery force of the interventional robot on the interventional device and send it to a processor. In this embodiment, the clamping structure includes two clamping members arranged opposite each other, at least one of the clamping members being movable toward the other clamping member. Understandably, the clamping members can be arranged in a planar block shape, a Y-shape, etc., and are not limited here. The clamping members used in this embodiment are arranged in a planar block shape. A planar block shape is beneficial for applying a uniform clamping force to the interventional device, thereby protecting the interventional device and avoiding deformation or damage to the interventional device due to uneven force.

[0043] Before step S10, the operator turns on the power to the interventional robot, which then starts. The clamping force detection structure and the delivery force detection structure reset to zero, and at least one clamping element moves to its mechanical limit position. The mechanical limit position is defined as the position where the two clamping elements are furthest apart, facilitating the placement of the interventional instrument between them. When the processor receives a control command, it controls the movement of the clamping structure and / or delivery structure based on the command to control the interventional instrument.

[0044] Furthermore, between steps S10 and S20, the method further includes: determining whether the initial delivery force is zero; if the initial delivery force is zero, controlling the interventional robot to clamp the interventional device with a preset clamping force; if the initial delivery force is not zero, then executing step S20.

[0045] The preset clamping force is a pre-set clamping force of the interventional robot on the interventional device. This preset clamping force is set within a safe range that ensures the delivery of the interventional device without causing damage to it. Specifically, the clamping force of the interventional robot on the interventional device is changed by altering the distance between the two clamping components.

[0046] Understandably, when the interventional device is not advancing or retracting, the initial delivery force detected by the delivery force detection structure is zero. When the interventional device advances or retracts, the initial delivery force detected by the delivery force detection structure is not zero.

[0047] In this embodiment, when the initial delivery force is zero, the interventional robot is controlled to clamp the interventional device with a preset clamping force, and a new initial delivery force is repeatedly acquired to determine whether the new initial delivery force is zero; when the initial delivery force is not zero, step S20 is entered to realize the automated control of the interventional device, and the interventional device is clamped with an appropriate preset clamping force to protect the interventional device and improve the automated control of the interventional robot.

[0048] S20: Process the desired delivery force and the initial delivery force to obtain control parameters.

[0049] The control parameters are used to adjust the clamping force applied by the interventional robot to the interventional instrument. Specifically, the PID algorithm is used to process the desired delivery force and the initial delivery force to obtain the control parameters, thereby achieving adaptive adjustment of the real-time clamping force on the interventional instrument.

[0050] S30: Adjust the real-time clamping force of the interventional robot on the interventional instrument based on the control parameters; the delivery force of the interventional robot on the interventional instrument follows the change of the real-time clamping force.

[0051] Between steps S20 and S30, the method further includes: obtaining the upper limit clamping force and the current clamping force; comparing the upper limit clamping force and the current clamping force to obtain a comparison result, and determining whether the comparison result meets the execution conditions; if the comparison result meets the execution conditions, then step S30 is executed; if the comparison result does not meet the execution conditions, then the intervention robot is controlled to execute a preset clamping strategy.

[0052] Specifically, if the comparison result is that the current clamping force is less than the upper limit clamping force, the comparison result satisfies the execution condition; if the comparison result is that the current clamping force is not less than the upper limit clamping force, the comparison result does not satisfy the execution condition.

[0053] The upper limit clamping force is the maximum clamping force used to safely clamp interventional devices without damaging them; the value of the upper limit clamping force is not limited here.

[0054] A preset clamping strategy refers to a method for adjusting the clamping force applied to the interventional device by the clamping component when the comparison result does not meet the execution conditions, i.e., when the current clamping force is not less than the upper limit clamping force, in order to ensure the safety of the interventional device and avoid damage to it. This preset clamping strategy can be to set a safety threshold; when the difference between the current clamping force and the upper limit clamping force is within the safety threshold, the interventional robot is controlled to clamp the interventional device with the current clamping force. Alternatively, the preset clamping strategy can make the current clamping force equal to the upper limit clamping force, controlling the interventional robot to clamp the interventional device with the upper limit clamping force. Another preset clamping strategy can be to issue a warning message so that the operator can adjust the real-time clamping force of the interventional robot on the interventional device in a timely manner, etc., without limitation.

[0055] In this embodiment, after obtaining the control parameters, if the current clamping force of the interventional robot on the interventional device is less than the upper limit clamping force, the control parameters are used to adjust the real-time clamping force of the interventional robot on the interventional device to achieve adaptive adjustment of the real-time clamping force; if the current clamping force of the interventional robot on the interventional device is not less than the upper limit clamping force, a preset clamping strategy is executed to ensure the safety of the interventional device and avoid damage to the interventional device.

[0056] In steps S10-S30, control parameters are obtained through the desired delivery force and the initial delivery force. The real-time clamping force of the interventional robot on the interventional device is adjusted using the control parameters. The real-time clamping force on the interventional device is adaptively adjusted, and the delivery force of the interventional robot on the interventional device also changes compliantly with the change of the real-time clamping force. This achieves automatic and compliant adjustment of the delivery force of the interventional robot, so the interventional device can be delivered more flexibly and safely, ensuring that the interventional robot delivers the interventional device safely and accurately, and avoiding damage to the interventional device.

[0057] S40: Obtain the current delivery force and determine whether the current delivery force is equal to the expected delivery force.

[0058] S50: If the current delivery force is not equal to the expected delivery force, then the current delivery force is determined as the initial delivery force, and S20-S40 are repeated; if the current delivery force is equal to the expected delivery force, the delivery of the interventional device is controlled by the expected delivery force.

[0059] Steps S10-S50 involve obtaining control parameters through the desired delivery force and the initial delivery force, and using these control parameters to adjust the real-time clamping force of the interventional robot on the interventional device. The real-time clamping force of the interventional robot on the interventional device is adaptively adjusted, and the delivery force of the interventional robot on the interventional device also changes adaptively with the change in the real-time clamping force until the current delivery force of the interventional robot on the interventional device equals the desired delivery force. This ensures that the interventional robot delivers the interventional device with a safe desired delivery force, improves surgical safety, avoids vascular damage, and achieves safe and precise operation of the interventional robot.

[0060] Furthermore, such as Figure 2 As shown, before step S10, the procedure further includes:

[0061] S01: Control the interventional robot to deliver the interventional device at a constant speed.

[0062] Typically, interventional devices vary in characteristics such as diameter, surface roughness, and slipperiness. To ensure uniform delivery of interventional devices, the delivery force, clamping force, and clamping distance are automatically adjusted to guarantee that the interventional devices are delivered at a uniform speed.

[0063] S02: Obtain the effective delivery force of the interventional robot on the interventional device during the uniform delivery process.

[0064] S03: Based on the effective delivery force, obtain the effective clamping force and the effective clamping distance.

[0065] Among them, effective delivery force, effective clamping force, and effective clamping distance refer to the data that can be used to calculate the expected delivery force of the interventional device during uniform delivery. The clamping distance is the distance between the two clamping members when they clamp the interventional device. Specifically, the interventional robot is equipped with a displacement detection structure, which is used to detect the distance between the two clamping members and send the distance between the two clamping members as the clamping distance to the processor.

[0066] In this embodiment, the interventional robot delivers the interventional device at a constant speed. Once the designated site of the interventional device has been delivered, the effective delivery force is selected from all delivery forces during the constant-speed delivery process. The designated site can be a pre-marked area of ​​the interventional device, a specific length of the interventional device, or a site specified by the operator; no limitation is made here. In other embodiments, when a designated delivery time for the interventional device is completed, the effective delivery force is selected from all delivery forces during the constant-speed delivery process.

[0067] Among them, obtaining the effective delivery force of the interventional robot on the interventional device during the uniform delivery process includes:

[0068] During the uniform delivery process, the interventional robot acquires several data sets of the interventional device, each data set including the test delivery force, test clamping force and test clamping distance at the same moment;

[0069] The effective delivery force is selected from the tested delivery forces that fall within a preset range. The test clamping force corresponding to the effective delivery force is determined as the effective clamping force, and the test clamping distance corresponding to the effective delivery force is determined as the effective clamping distance. In this embodiment, the test delivery force with a rate of change less than a preset value is considered the test delivery force within the preset range, i.e., the effective delivery force.

[0070] The data set records all delivery forces, clamping forces, and clamping distances of the interventional robot on the interventional instrument during the uniform delivery process. It should be noted that the test delivery forces, test clamping forces, and test clamping distances in the same data set are data from the same moment to ensure the accuracy and validity of the data.

[0071] In this embodiment, the interventional device is controlled to be delivered at a constant speed. Due to differences in device characteristics such as diameter and surface roughness, the test delivery force, test clamping force, and test clamping distance are automatically adjusted. The processor acquires all test delivery forces, test clamping forces, and test clamping distances during the delivery process. After delivery, the test delivery force with a rate of change less than a preset value is considered the test delivery force within the preset range, i.e., the effective delivery force. The test clamping force at the corresponding moment of the effective delivery force is determined as the effective clamping force, and the test clamping distance at the corresponding moment of the effective delivery force is determined as the effective clamping distance. This eliminates invalid interference data, ensuring that the calculated interventional device model is accurate and valid, and providing technical support for obtaining the accurate expected delivery force subsequently. The rate of change is the ratio of the change in test clamping force within a preset time period to the preset time period.

[0072] S04: Based on the effective clamping force and the effective clamping distance, determine the device model of the interventional device.

[0073] S05: Based on the device model, obtain the expected delivery force of the interventional device.

[0074] Wherein, obtaining the expected delivery force of the interventional device based on the device model includes:

[0075] Based on the device model, the Young's modulus of the interventional device is determined.

[0076] Based on the Young's modulus of the device, the expected delivery force of the interventional device is obtained.

[0077] Among them, the Young's modulus of an interventional device is a physical quantity that describes the ability of an interventional device to resist deformation.

[0078] In this embodiment, the effective clamping force and effective clamping distance are obtained, and the instrument association table is queried to quickly obtain the instrument model of the interventional device. The instrument model is then used to determine the instrument's Young's modulus. The expected delivery force of the interventional device is automatically determined based on the instrument's Young's modulus, improving the level of operational intelligence. The correlation between this expected delivery force and the instrument's Young's modulus effectively protects the interventional device and prevents the interventional robot from applying excessive force. The instrument association table is a table pre-stored in the processor, recording the correspondence between effective clamping force, effective clamping distance, instrument model, instrument Young's modulus, and expected delivery force.

[0079] Figure 3 This is a schematic diagram of the structure of a computer device provided in this application. Figure 3 As shown, the computer device of this embodiment includes: at least one processor ( Figure 3 Only one is shown in the diagram), a memory, and a computer program stored in the memory that can run on at least one processor, the processor executing the computer program to perform the above steps.

[0080] This computer device may include, but is not limited to, a processor and memory. Those skilled in the art will understand that... Figure 3 The examples of computer devices are merely examples and do not constitute a limitation on computer devices. Computer devices may include more or fewer components than shown in the illustration, or combinations of certain components, or different components, such as network interfaces, displays, and input devices.

[0081] The processor referred to can be a Central Processing Unit (CPU), but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0082] Memory includes readable storage media, internal memory, etc., wherein internal memory can be the RAM of a computer device, providing an environment for the operation of the operating system and computer-readable instructions stored in the readable storage media. The readable storage media can be the hard drive of the computer device, or in other embodiments, it can be an external storage device of the computer device, such as a plug-in hard drive, a Smart Medicard (SMC), a Secure Digital (SD) card, a Flash Card, etc., equipped on the computer device. Furthermore, memory can include both internal storage units and external storage devices of the computer device. Memory is used to store the operating system, applications, bootloader, data, and other programs, such as program code of computer programs. Memory can also be used to temporarily store data that has been output or will be output.

[0083] The processes described in this application, whether in whole or in part, of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the above embodiments. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include at least: any entity or device capable of carrying computer program code, a recording medium, a computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, such as a USB flash drive, portable hard drive, magnetic disk, or optical disk.

[0084] The processes in the system described in the above embodiments can also be implemented by a computer program product. When the computer program product is run on a computer device, the computer device executes the steps described in the above embodiments.

[0085] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0086] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0087] In the embodiments provided in this application, it should be understood that the disclosed systems, devices / computer equipment can be implemented in other ways. For example, the computer equipment embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and there may be other division methods in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed.

[0088] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A delivery force control system for an interventional robot, characterized in that, Including the following steps performed by the processor: S10: Obtain the desired delivery force and initial delivery force of the interventional device; S20: Process the desired delivery force and the initial delivery force to obtain control parameters; S30: Adjust the real-time clamping force of the interventional robot on the interventional instrument based on the control parameters; the delivery force of the interventional robot on the interventional instrument follows the change of the real-time clamping force.

2. The delivery force control system according to claim 1, characterized in that, Following step S30, the following is also included: S40: Obtain the current delivery force and determine whether the current delivery force is equal to the expected delivery force; S50: If the current delivery force is not equal to the expected delivery force, then the current delivery force is determined as the initial delivery force, and S20-S40 are repeated; if the current delivery force is equal to the expected delivery force, the delivery of the interventional device is controlled by the expected delivery force.

3. The delivery force control system according to claim 1, characterized in that, Between steps S20 and S30, the following is also included: Get the upper limit clamping force and the current clamping force; The upper limit clamping force and the current clamping force are compared to obtain the comparison result, and it is determined whether the comparison result meets the execution conditions. If the comparison result meets the execution condition, then step S30 is executed; if the comparison result does not meet the execution condition, then the intervention robot is controlled to execute a preset clamping strategy.

4. The delivery force control system according to claim 3, characterized in that, If the comparison result indicates that the current clamping force is less than the upper limit clamping force, the comparison result satisfies the execution condition; if the comparison result indicates that the current clamping force is not less than the upper limit clamping force, the comparison result does not satisfy the execution condition.

5. The delivery force control system according to claim 1, characterized in that, Between steps S10 and S20, the following is also included: Determine whether the initial delivery force is zero; If the initial delivery force is zero, the interventional robot is controlled to clamp the interventional device with a preset clamping force; If the initial delivery force is not zero, then proceed to step S20.

6. The delivery force control system according to claim 1, characterized in that, Before step S10, the method further includes: The interventional robot is controlled to deliver the interventional instrument at a constant speed. During the uniform delivery process, the effective delivery force of the interventional robot on the interventional instrument is obtained; Based on the effective delivery force, the effective clamping force and effective clamping distance are obtained; Based on the effective clamping force and the effective clamping distance, the device model of the interventional device is determined; Based on the device model, the expected delivery force of the interventional device is obtained.

7. The delivery force control system according to claim 6, characterized in that, During the process of obtaining uniform delivery, the effective delivery force of the interventional robot on the interventional instrument; Based on the effective delivery force, the effective clamping force and effective clamping distance are obtained, including: During the uniform delivery process, several data sets of the interventional robot's operation on the interventional device are obtained, and each data set includes the test delivery force, test clamping force and test clamping distance at the same moment; The test delivery force within a preset range is selected from the test delivery forces as the effective delivery force, the test clamping force corresponding to the effective delivery force is determined as the effective clamping force, and the test clamping distance corresponding to the effective delivery force is determined as the effective clamping distance.

8. The delivery force control system according to claim 6, characterized in that, The step of obtaining the expected delivery force of the interventional device based on the device model includes: Based on the device model, determine the Young's modulus of the interventional device; Based on the Young's modulus of the device, the expected delivery force of the interventional device is obtained.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it performs the steps of any one of claims 1 to 8.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps performed by the processor in any one of claims 1 to 8.

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