Catheter robot and registration method thereof

Abstract

The invention relates to a catheter robot and a registration method thereof, and the method is characterized in that the method comprises the steps: generating a first anatomical model based on a first medical image in a first state; generating a second anatomical model based on the second medical image in the second state; acquiring body surface data sensed by the second sensor, and determining a respiration coefficient of a current state based on the body surface data; based on the respiratory coefficient and the first anatomical model, obtaining a third anatomical model associated with the respiratory coefficient; acquiring a plurality of actual path points sensed by the first sensor in the anatomical structure, and acquiring a simulated path point cloud based on the plurality of actual path points; obtaining a model point cloud, wherein the model point cloud comprises a plurality of skeleton points of a pipeline center line of the third anatomical model and / or vertexes of a plurality of pipeline walls; and the simulated path point cloud and the model point cloud are registered, so that the third anatomical model better reflects the real state of the anatomical structure of the patient, and the success rate of the operation is improved.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a catheter robot and a registration method thereof. Background Art

[0002] Minimally invasive medical technology intends to reduce the amount of tissue damaged during medical procedures to reduce patient recovery time, discomfort, and harmful side effects. Such minimally invasive technology can be performed through natural orifices in the anatomical structure or through one or more surgical incisions. For example, when the anatomical structure is a bronchus, the currently commonly used lung medical surgery is to use bronchoscopic technology, the process of which is to insert the medical device through the patient's natural cavity or through one or more minimally invasive surgical incisions, rely on the camera at the front end of the bronchoscope, and reach the target tissue location, that is, the lesion location, with the cooperation of the intraoperative navigation system.

[0003] During the intraoperative navigation process, it is necessary to establish an anatomical model (virtual bronchial 3D model) based on the patient's preoperative CT images. The CT images taken before the operation are the shape of the patient's bronchi at a certain moment, and during the operation, the patient's bronchi are easily affected by breathing, and their size and shape will change dynamically. In addition, the movement of the catheter will also squeeze the bronchi, causing the bronchi to bend and other deformations.

[0004] In the prior art, some treatment methods only consider the effect of breathing on the shape of the bronchi, ignoring the squeezing or driving effect of the treatment device on the bronchi. Since the bronchi are smaller near the lesions, the movement of the catheter will affect the shape of the bronchi. If the lesion is located inside the bronchus or connected to the bronchus, the deformation of the bronchus will drive the lesion to move together. If the puncture biopsy is performed according to the original planned path, the probability of failure will increase and the positive rate of the biopsy will decrease. Another treatment method is to obtain data from multiple sensors on the catheter in real time and calculate the shape of the catheter and its effect on the bronchi, but ignore the effect of breathing on the bronchi and lesions. Breathing can cause contraction and relaxation of the bronchi and movement deviation of the lesions, especially when the lesions are located outside the bronchus. If the patient's breathing amplitude is large and the puncture biopsy is still performed according to the planned path, the probability of success will also be reduced.

[0005] Therefore, the existing technologies do not take into account the comprehensive impact of breathing and instruments on the shape of the bronchus. If there is a large difference between the anatomical model and the actual anatomical structure, it will affect the doctor's judgment on the direction and distance between the catheter and the target tissue, and have a great impact on the success rate of the operation. Summary of the invention

[0006] Based on this, it is necessary to provide a catheter robot and its alignment method to solve the problem of the influence of breathing and catheter movement on the shape of the anatomical structure during intraoperative navigation. By dynamically modifying the anatomical model, the anatomical model can better reflect the actual state of the patient's anatomical structure and improve the success rate of the operation.

[0007] In a first aspect, the present application provides a catheter robot, the catheter robot comprising:

[0008] catheter;

[0009] A first sensor, disposed on the catheter, for sensing the position of the distal end of the catheter;

[0010] A second sensor, disposed on the patient's body surface, for acquiring body surface data of the patient; and

[0011] A control device, coupled to the first sensor and configured to:

[0012] Acquire a first medical image of an anatomical structure of a patient in a first state and generate a first anatomical model based on the first medical image;

[0013] Acquire a second medical image of the patient's anatomical structure in a second state and generate a second anatomical model based on the second medical image;

[0014] Acquire body surface data sensed by the second sensor, and determine a breathing coefficient of a current state based on the body surface data;

[0015] Based on the breathing coefficient and the first anatomical model, acquiring a third anatomical model associated with the breathing coefficient, or, based on the breathing coefficient and the second anatomical model, acquiring a third anatomical model associated with the breathing coefficient;

[0016] Acquire a plurality of actual path points sensed by the first sensor in the anatomical structure, and acquire a simulated path point cloud based on the plurality of actual path points;

[0017] Acquire a model point cloud, wherein the model point cloud includes a plurality of skeleton points of a pipeline centerline of the third anatomical model and / or a plurality of vertices of a pipeline wall;

[0018] The simulation path point cloud is registered with the model point cloud.

[0019] In a second aspect, a catheter robot is characterized by comprising:

[0020] catheter;

[0021] A first sensor, disposed on the catheter, for sensing the position of the distal end of the catheter;

[0022] A second sensor, disposed on the patient's body surface, for acquiring body surface data of the patient; and

[0023] A control device, coupled to the first sensor and configured to:

[0024] Acquire a first medical image of an anatomical structure of a patient in a first state and generate a first anatomical model based on the first medical image;

[0025] Acquire a second medical image of the patient's anatomical structure in a second state and generate a second anatomical model based on the second medical image;

[0026] Acquire body surface data sensed by the second sensor, and determine a breathing coefficient of a current state based on the body surface data;

[0027] Based on the breathing coefficient and the first anatomical model, a third anatomical model associated with the breathing coefficient is obtained; or, based on the breathing coefficient and the second anatomical model, a third anatomical model associated with the breathing coefficient is obtained.

[0028] In a third aspect, the present application provides a catheter robot registration method, comprising:

[0029] Acquire a first medical image of an anatomical structure of a patient in a first state and generate a first anatomical model based on the first medical image;

[0030] Acquire a second medical image of the patient's anatomical structure in a second state and generate a second anatomical model based on the second medical image;

[0031] Acquire body surface data sensed by the second sensor, and determine a breathing coefficient of a current state based on the body surface data;

[0032] Based on the breathing coefficient and the first anatomical model, acquiring a third anatomical model associated with the breathing coefficient, or, based on the breathing coefficient and the second anatomical model, acquiring a third anatomical model associated with the breathing coefficient;

[0033] Acquire a plurality of actual path points sensed by the first sensor in the anatomical structure, and acquire a simulated path point cloud based on the plurality of actual path points;

[0034] Acquire a model point cloud, wherein the model point cloud includes a plurality of skeleton points of a pipeline centerline of the third anatomical model and / or a plurality of vertices of a pipeline wall;

[0035] The simulation path point cloud is registered with the model point cloud.

[0036] In a fourth aspect, the present application provides a computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program, and the computer program is configured to be loaded and executed by a processor to implement the steps of the method described in any of the above embodiments.

[0037] The catheter robot and the registration method thereof of the present application have the following beneficial effects:

[0038] By eliminating the influence of breathing and the movement of the catheter on the anatomical structure and the target tissue, the present application can obtain a dynamic and accurate third anatomical model on the one hand, and can improve the accuracy of the registration algorithm, so that the position of the catheter end displayed on the anatomical model is closer to the actual position. The higher accuracy is beneficial to judge the distance between the catheter end and / or the instrument end (such as a biopsy needle) and the target tissue (for example, a lesion), reduce the number of DR or CBCT shots during surgery, and reduce the radiation intake of doctors and patients. On the other hand, the present application can also accurately know the shape of the catheter and the anatomical structure in real time, provide guidance for the subsequent movement direction of the catheter, better adjust the angle of the catheter, align the center of the target tissue, and improve the success rate of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 A schematic diagram of the structure of a catheter robot provided in one embodiment of the present application;

[0040] Figure 2 A schematic diagram of the structure of a catheter device and a power unit provided in one embodiment of the present application;

[0041] Figure 3 A schematic diagram of a flow chart of a catheter robot registration method provided in an embodiment of the application;

[0042] Figure 4 A schematic diagram of the position of a second sensor on a patient's body surface provided in one embodiment of the present application;

[0043] Figure 5 A schematic diagram of a respiratory coefficient obtained by using EM data of at least one respiratory cycle sensed by a second sensor according to an embodiment of the application;

[0044] Figure 6 A schematic diagram of a process for obtaining a third anatomical model associated with a respiratory coefficient provided in an embodiment of the application;

[0045] Figure 7 A geodesic diagram of a first anatomical model provided in one embodiment of the present application;

[0046] Figure 8 A schematic diagram for comparing the effects of obtaining a third anatomical model after shrinking the first anatomical model in the first state according to an embodiment of the application;

[0047] Fig. 9 A schematic diagram of the affine transformation process of the first anatomical model as a whole provided in one embodiment of the present application;

[0048] Fig.10 A schematic diagram of the deduplication processing effect of the path point cloud at the end of the catheter provided in an embodiment of the application;

[0049] Fig.11 A schematic diagram of a process for registering a simulation path point cloud and a model point cloud provided in an embodiment of the present application;

[0050] Fig.12 A schematic diagram of a comparison effect of deleting a simulated path point cloud belonging to the first area and retaining a simulated path point cloud belonging to the second area provided in an embodiment of the present application;

[0051] Figure 13-14 A schematic diagram of the comparison effect of using the second transformation matrix to align the simulated path point cloud and the model point cloud provided in an embodiment of the present application;

[0052] Fig.15 A simplified schematic diagram of a user interface operated by a doctor provided in an embodiment of the present application;

[0053] Fig.16 This is a schematic diagram of the principle of a control device for a catheter robot provided in one embodiment of the present application. DETAILED DESCRIPTION

[0054] In order to facilitate the understanding of the present application, the present application will be described more comprehensively with reference to the relevant drawings below. The preferred embodiments of the present application are given in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described in the present application. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thoroughly and comprehensively understood.

[0055] It should be noted that when an element is referred to as being "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be a central element at the same time. When an element is considered to be "coupled" to another element, it may be directly coupled to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method. The terms "distal end" and "proximal end" used in this application are used as directional words, which are commonly used terms in the field of interventional medical devices, where "distal end" refers to the end close to the patient during surgery, and "proximal end" refers to the end away from the patient during surgery. The terms "first / second" and the like used in this application represent a component and a class of more than two components with common characteristics.

[0056] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used in this application includes any and all combinations of one or more related listed items. The term "each" used in this application includes one or more than two. The term "plurality" used in this application refers to two or more.

[0057] The catheter robot and the method for improving alignment thereof proposed according to the embodiments of the present application are described below in conjunction with the accompanying drawings.

[0058] Figure 1 The catheter system 1000 provided in one embodiment of the present application is shown. The catheter system 1000 includes an imaging cart 100, a trolley 200 and a main controller 300 respectively connected to the imaging cart 100, a catheter instrument 400 that can be coupled to the trolley 200, a sensor system 500 connected to the trolley 200, and a control device 600 for realizing control between the catheter instrument 400, the main controller 300, the sensor system 500 and the imaging cart 100. Among them, the main controller 300 can be connected to the trolley 200 by wire or wirelessly. When the operator performs various procedures on the patient next to the trolley 200, the control instruction can be triggered by operating the main controller 300, and the catheter instrument 400 can be controlled to advance, retract, bend and turn, etc. through the drive of the trolley 200.

[0059] The trolley 200 can usually be moved to the side of the operating bed to engage the catheter instrument 400, and control the catheter instrument 400 to move up and down in the vertical direction, or translate in the horizontal direction, or move in non-vertical and non-horizontal directions under the control command, so as to provide a better preoperative preparation angle for the operation of the catheter instrument 400. The control command can be a command triggered by the operator by operating the main controller 300, or a command triggered by the operator directly clicking or pressing a button set on the trolley 200. Of course, in other embodiments, the control command can also be a command triggered by voice control or a force feedback mechanism.

[0060] like Figure 1 As shown, further, the trolley 200 may include a base 210, a sliding seat body 220 that can be lifted and moved along the base 210, and two mechanical arms 230 fixedly connected to the sliding seat body 220. The mechanical arm 230 may include a plurality of arm segments connected at a joint, and the plurality of arm segments provide the mechanical arm 230 with a plurality of degrees of freedom, for example, seven degrees of freedom corresponding to seven arm segments. A power unit (not shown in the figure) is installed at the end of the mechanical arm 230, and the power unit of the mechanical arm 230 is used to engage the catheter instrument 400, and under the driving action of the power unit, the end of the catheter instrument 400 is controlled to bend and turn accordingly. Among them, the two mechanical arms 230 may be structures that are completely the same or partially the same, one mechanical arm 230 is used to engage the inner catheter instrument 410, and the other mechanical arm 230 is used to engage the outer catheter instrument 420. During installation, the outer catheter device 420 may be installed first, and when the outer catheter device 420 is installed, the catheter of the inner catheter device 410 is inserted into the catheter of the outer catheter device 420 .

[0061] The sensor system 500 has one or more subsystems for receiving information about the catheter device 400. The subsystems may include: a position sensor system, a shape sensor system for determining the position, orientation, speed, velocity, pose and / or shape of the tip of the catheter device 400 and / or along one or more segments of the catheter that may constitute the catheter device 400; and / or a visualization system for capturing images from the tip of the catheter device 400.

[0062] The imaging vehicle 100 may be provided with a display system 110 and a flushing system (not shown in the figure), etc. The display system 110 is used to display images or representations of the surgical site and the catheter instrument 400 generated by the subsystem of the sensor system 500. Real-time images of the surgical site and the catheter instrument 400 captured by the visualization system may also be displayed. Images of the surgical site recorded before or during surgery may also be presented using image data from imaging techniques such as computed tomography (CT), magnetic resonance imaging (MRI), optical coherence tomography (OCT), and ultrasound, etc. The preoperative or intraoperative image data may be presented as a two-dimensional, three-dimensional, or four-dimensional (such as time-based or rate-based information) image and / or presented as an image from a model created based on a preoperative or intraoperative image data set, and a virtual navigation image may also be displayed. In the virtual navigation image, the actual position of the catheter instrument 400 is registered with the preoperative image to present a virtual image of the catheter instrument 400 in the surgical site to the operator from the outside.

[0063] The control device 600 includes at least one memory and at least one processor. It is understandable that the control device 600 can be integrated into the trolley 200 or the imaging trolley 100, or can be independently provided. The control device 600 can support wireless communication protocols such as IEEE 802.11, IrDA, Bluetooth, HomeRF, DECT, and wireless telemetry. The control device 600 can transmit one or more signals indicating the movement of the catheter instrument 400 by the power unit to move the catheter instrument 400. The catheter instrument 400 can extend to a surgical location in the body through an opening of a natural cavity or a surgical incision of the patient.

[0064] Further, the control device 600 may include a mechanical control system (not shown in the figure) and an image processing system (not shown in the figure), wherein the mechanical control system is used to control the movement of the catheter instrument 400, and therefore, can be integrated into the trolley 200. The image processing system is used for virtual navigation path planning, and therefore, can be integrated into the imaging vehicle 100. Of course, the various subsystems of the control device 600 are not limited to the specific situations listed above, and can also be reasonably set according to actual conditions. Among them, the image processing system can image the surgical site based on the image of the surgical site recorded before or during the operation, using the above imaging technology. The software used in combination with manual input can also convert the recorded image into a two-dimensional or three-dimensional synthetic image of a part or the entire anatomical organ or segment. During the virtual navigation procedure, the sensor system 500 can be used to calculate the position of the catheter instrument 400 relative to the patient's anatomical structure, which can be used to generate an external tracking image and an internal virtual image of the patient's anatomical structure, so as to realize the actual position of the catheter instrument 400 and the preoperative image registration, so that the virtual image of the catheter instrument 400 in the surgical site can be presented to the operator from the outside.

[0065] The structures of the inner catheter device 410 and the outer catheter device 420 are substantially the same, and they respectively have a slender and flexible inner catheter 41 and an outer catheter 42, wherein the diameter of the outer catheter 42 is slightly larger than the inner catheter 41, so that the inner catheter 41 can pass through the outer catheter 42 and provide a certain support for the inner catheter 41, so that the inner catheter 41 can reach the target position in the patient's body, so as to facilitate operations such as tissue or cell sampling from the target position.

[0066] Certain movements of the main controller 300 may cause corresponding movements of the catheter device 400. For example, when the operator operates the direction lever of the main controller 300 to move upward or downward, the movement of the direction lever of the main controller 300 may be mapped to the corresponding pitch movement of the end of the catheter device 400; when the operator operates the direction lever of the main controller 300 to move left or right, the movement of the direction lever of the main controller 300 may be mapped to the corresponding yaw movement of the end of the catheter device 400. In this embodiment, the main controller 300 may control the end of the catheter device 400 to move within a 360° spatial range.

[0067] Figure 2FIG. 4 shows a catheter instrument 400 provided in an embodiment of the present application. The catheter instrument 400 is configured to engage with the power unit 240 of the mechanical arm 230, and the catheter instrument 400 includes an instrument box 45 configured to engage with the power unit 240 and a catheter 48 connected to the instrument box 45. The "engagement" refers to a state in which when the instrument box 45 is installed in the power unit 240, the driving force of the power unit 240 can be transmitted to the instrument box 45 and the catheter 48 can move normally. For example, under the driving force of the power unit 240, the end of the catheter 48 can be bent and turned.

[0068] The end in the present application may also be referred to as the distal end, which refers to the end away from the instrument box 45 ; the front end may also be referred to as the proximal end, which refers to the end close to the instrument box 45 .

[0069] The processor of the control device 600 is configured to execute the following steps to implement the catheter robot registration method provided in an embodiment of the present application. Figure 3 As shown, the registration method of the catheter robot includes:

[0070] Step S11 , acquiring a first medical image of the anatomical structure of the patient in a first state and generating a first anatomical model, and acquiring a second medical image of the anatomical structure of the patient in a second state and generating a second anatomical model.

[0071] In this embodiment, the doctor needs to obtain medical images of the patient's anatomical structure through CT, MRI, OCT or ultrasound scanning (or photography) before the operation, where the anatomical structure can be one of the bronchi, urinary tracts, (cardio)vascular and intestinal tracts through natural or surgically created connecting channels.

[0072] In one embodiment, when the medical image is a CT image, a first medical CT image of the patient in a first state before surgery and a second medical CT image in a second state are obtained, the first state includes the patient's inhalation state, and the second state includes the patient's exhalation state. For example, taking the anatomical structure as the bronchus as an example, when the first state is the patient's full inhalation state, when shooting the first medical CT image in the inhalation phase, the patient needs to take a deep breath and then hold his breath until the CT shooting is completed. Since the bronchi of the human body are the largest in the inhalation state, the fine branches at the end of the bronchus are easier to image on CT; for another example, when the second state is the patient's full exhalation state, shooting the second medical CT image in the exhalation phase, the patient needs to exhale all the gas in the body and then hold his breath until the CT shooting is completed. The first medical image is segmented and reconstructed to obtain the first anatomical model, and the second medical image is segmented and reconstructed to obtain the second anatomical model. For example, the medical image of the patient can be segmented by segmentation algorithms such as region growing and convolutional neural networks to segment the bronchi of the lungs, and then the segmented images can be reconstructed into three-dimensional models by a marching cube algorithm, so as to obtain the first anatomical model and the second anatomical model. Three-dimensional models include three-dimensional mesh models, point cloud models, etc. Among them, the three-dimensional mesh model is a set of vertices, edges and faces to represent the shape of a three-dimensional body, usually containing geometric information and topological information.

[0073] The first anatomical model and the second anatomical model include a pipeline centerline. In order to facilitate intraoperative navigation, a centerline extraction algorithm is used to extract the pipeline centerline from the first anatomical model and the second anatomical model. The pipeline centerline is the centerline of the anatomical model, which can also be called the skeleton of the anatomical model. It is a curve used to describe some geometric features of the anatomical model. It is located in the middle of the anatomical model and has the same topological structure as the anatomical model. Its width is generally a single pixel.

[0074] The pipeline centerline is a three-dimensional curve. In practical applications, the pipeline centerline is often stored and used in the form of multiple three-dimensional points. In other words, the pipeline centerline includes these three-dimensional points, which can be called skeleton points. The set of skeleton points can be called a skeleton point set or a skeleton point cloud. The pipeline centerline can provide the information required for intraoperative navigation. At the same time, compared with the original anatomical model, its data volume is significantly reduced, and it is more convenient to process, which is conducive to real-time navigation.

[0075] Step S12, acquiring body surface data sensed by a second sensor disposed on the patient's body surface, and determining the respiratory coefficient of the current state based on the body surface data.

[0076] In some embodiments, the catheter robot includes a catheter, and the catheter is provided with a first sensor for acquiring the position of the catheter tip. The first sensor may include a position sensor and / or a shape sensor.

[0077] Among them, a position sensor can be a component in an electromagnetic positioning system. The electromagnetic positioning system can further include a magnetic field generating component and a magnetic field detecting component. The magnetic field generating component is used to generate a magnetic field, and the position sensor is an EM sensor (i.e., an electromagnetic sensor). The position sensor will cause a change in the magnetic field in the magnetic field. The magnetic field detecting component can detect the change in the magnetic field and thus detect the position of the position sensor relative to the magnetic field / magnetic field generating component. Combined with the coordinate conversion relationship between the position sensor and the end of the catheter obtained by the pre-set or calibration, the position of the end of the catheter relative to the magnetic field / magnetic field generating component can be calculated. Combined with the coordinate conversion relationship between the magnetic field / magnetic field generating component and the world coordinate system, the position of the end of the catheter in the world coordinate system, i.e., the actual path point, can be calculated.

[0078] For another example, a shape sensor can be used to obtain a path point cloud of the end of a catheter inserted into an anatomical structure. For example, the shape sensor may include an optical fiber aligned with the catheter, and an optical fiber bending sensor formed by the optical fiber can feedback the shape of the catheter, based on which the position of the catheter end relative to the base of the shape sensor can be calculated. Combined with the position of the base of the shape sensor in the world coordinate system, the position of the catheter end in the world coordinate system, i.e., the actual path point, can be calculated.

[0079] The catheter robot also includes a second sensor configured on the patient's body surface, and the second sensors are at least three, for obtaining the patient's body surface data. The second sensor can generally be a position sensor or a posture sensor, which is usually non-invasively and stably arranged on the patient's body surface corresponding to the anatomical structure, that is, the second sensor is generally exposed on the patient's body surface. The second sensor can be selected not only from EM sensors, but also from optical positioning sensors.

[0080] In some embodiments, for example, when the anatomical structure is a bronchus, since the respiratory amplitudes of various parts of the lungs are different, the second sensor in the middle of the main bronchus actually measures the respiratory amplitude of the front end of the main bronchus, and its amplitude is relatively small, while the second sensors on the left and right sides of the bronchial end are mainly used to measure the respiratory amplitude of the left and right lung ends. The amplitude of the diaphragm movement at the lower end of the lung segment is the largest during breathing. Therefore, the second sensor is arranged at a position point in the patient's body surface that does not change much in the middle of the main bronchus of the lung, and a position point on the left and right sides of the bronchial end that changes greatly. As the patient's respiratory state changes, the anatomical structure changes in six dimensions: up and down, left and right, and front and back. In theory, the more sensors there are, the richer the respiratory state changes obtained, that is, the more second sensors there are, the more areas of the patient's body surface are covered, and the more accurate the respiratory movement of the anatomical structure is sensed. For example, at least three second sensors are arranged on the surface of the patient's chest. Among them, one second sensor can be arranged in the middle of the patient's chest, and the other two second sensors can be arranged in the area of ​​the patient's chest corresponding to the 7th rib on the left, and in the area of ​​the patient's chest corresponding to the 7th rib on the right. During the operation, the second sensors need to be fixed with tape to avoid slipping during the operation.

[0081] In some embodiments, the above step S12 of determining the breathing coefficient in the current state can be implemented by the following steps:

[0082] (1) Obtaining body surface data of the patient through a second sensor, wherein a sampling period for obtaining the body surface data of the patient includes at least one breathing cycle. For a bronchus, the sampling period may include at least one breathing cycle, such as one, two or more, and a normal breathing cycle of a normal person usually lasts 3 to 5 seconds.

[0083] (2) Determine the area of ​​the figure enclosed by the second sensor according to the patient's body surface data, wherein the area includes a first area, a second area, and a third area. The first area includes the area of ​​the figure enclosed by the second sensor in the first state, the second area includes the area of ​​the figure enclosed by the second sensor in the second state, and the third area is the area S of the figure enclosed by the second sensor in the current state. When the first state is the full inhalation state, the second area is the maximum area S enclosed by the second sensor. max When the second state is the complete exhalation state, the second area is the minimum area S enclosed by the second sensor min .

[0084] like Figure 4As shown, take three second sensors as an example to determine the breathing coefficient in the current state. The three second sensors are located at P1 (X1, Y1, Z1), P2 (X2, Y2, Z2), and P1 (X3, Y3, Z3), respectively, and the distances between the second sensors, that is, the side lengths A, B, and C, are calculated.

[0085] Use Euclidean distance to calculate the lengths of A, B, and C. For example, to calculate the length of side A:

[0086]

[0087] The length calculation method of B and C is the same as that of A, which will not be repeated here.

[0088] Calculate the semi-perimeter length P of the figure enclosed by the second sensor:

[0089] P=(A+B+C) / 2 Formula (2)

[0090] The area S of the figure enclosed by the second sensor in the current state:

[0091]

[0092] According to the maximum area S max , minimum area S min , and the area S of the figure enclosed by the second sensor in the current state determine the breathing coefficient F in the current state:

[0093]

[0094] Wherein, Fmax in formula (4) represents the maximum value of the designed breathing coefficient, and Fmin represents the minimum value of the designed breathing coefficient. For example, in some embodiments, if the formula is designed according to the range of the breathing coefficient in the interval [-1, 1], the breathing coefficient F is:

[0095]

[0096] For example, in some embodiments, if the formula is designed according to the range of the breathing coefficient in the interval [-100, 100], the breathing coefficient F is:

[0097]

[0098] like Figure 5As shown, the respiratory coefficient is designed in the range of [-1,1]. The horizontal axis represents the number of EM data acquired by the second sensor in real time as the breathing duration or breathing cycle changes. The vertical axis represents from top to bottom: the area of ​​the figure enclosed by the second sensor, the area slope, and the respiratory coefficient. The area of ​​the figure enclosed by the second sensor represents the area size of the figure enclosed by the second sensor as the patient's breathing state changes; the area slope represents the rate of change of the area; and the respiratory coefficient represents the different breathing states of the patient.

[0099] The present application uses the respiratory coefficient F to intuitively and quickly determine the patient's respiratory state at this time, and enables or prohibits the movement of the catheter in the anatomical structure based on the respiratory state. For example, if the respiratory coefficient F is a positive value, it means that the human chest cavity is in the inhalation state in the first state, the chest cavity is full and the bronchus is in a diastolic state. The larger the value, the fuller it is, and the movement of the catheter in the anatomical structure is enabled; or, when the respiratory coefficient F is a negative value, the patient's respiratory state is determined to be an exhalation state, and the movement of the catheter in the anatomical structure is prohibited. For another example, the patient's respiratory state is determined based on the respiratory coefficient F, and a prompt is generated based on the respiratory state to indicate whether the movement of the catheter in the anatomical structure is allowed. When the respiratory coefficient F is a positive value, the patient's respiratory state is determined to be an inhalation state, and a prompt is generated to allow the movement of the catheter in the anatomical structure; or, when the respiratory coefficient F is a negative value, the patient's respiratory state is determined to be an exhalation state, and a prompt is generated to prohibit the movement of the catheter in the anatomical structure. For another example, the patient's respiratory state is determined based on the respiratory coefficient F, and a prompt is generated based on the respiratory state to indicate whether the movement of the catheter in the anatomical structure is allowed. When the respiratory coefficient F is a positive value, the patient's respiratory state is determined to be an inhalation state, and a prompt is generated to allow the movement of the catheter in the anatomical structure; or, when the respiratory coefficient F is a negative value, the patient's respiratory state is determined to be an exhalation state, and a prompt is generated to prohibit the movement of the catheter in the anatomical structure. For example, when the anatomical structure is a bronchus, the visualization system assisting the doctor's operation can detect that the surgical instrument (e.g., a needle) at the end of the catheter reaches the vicinity of the target tissue position and detects that the patient is in an inhalation state. The system allows the doctor to perform a percutaneous puncture operation, and it is safer to perform the puncture when the patient is in an inhalation state; if the respiratory coefficient is a negative value, it means that the human chest cavity is in an exhalation state in the second state, and the chest cavity and bronchus are in a contracted state. The system allows the doctor to prohibit the operation.

[0100] When the first state is a fully inhaled state, the first anatomical model corresponds to a breathing coefficient of 1, and when the second state is a fully exhaled state, the second anatomical model corresponds to a breathing coefficient of -1. Since the first anatomical model of the fully inhaled state and the second anatomical model of the fully exhaled state have been obtained based on the first medical image and the second medical image before the operation, and other breathing coefficients, for example, are 0, it is necessary to obtain a third anatomical model associated with a breathing coefficient of 0 through affine transformation based on the first anatomical model or the second anatomical model of the first state or the second state. In some embodiments, in order to reduce the amount of calculation, when used, for example, 5 classic breathing coefficients {-1, -0.5, 0, 0.5, 1} are usually selected. The breathing coefficient in the previous state is actually calculated to be closer to which classic breathing coefficient, and the first anatomical model or the second anatomical model associated with the classic breathing coefficient is selected for display. For example, when the breathing coefficient in the previous state is calculated to be 0.9, the first anatomical model with a breathing coefficient of 1 is selected for display.

[0101] S13, based on the breathing coefficient and the first anatomical model, obtaining a third anatomical model associated with the breathing coefficient, or based on the breathing coefficient and the second anatomical model, obtaining a third anatomical model associated with the breathing coefficient.

[0102] In this embodiment, since the bronchi are largest when the human body is in the first state, i.e., the inhalation state, the fine branches at the end of the bronchi are easier to image on CT, while the bronchi are smallest in the second state, i.e., the exhalation state, resulting in many bronchial ends being unable to be imaged on CT due to contraction. Therefore, the affine transformation in this application is based on the scaling and translation of the first anatomical model in the first state to obtain a third anatomical model associated with different respiratory coefficients.

[0103] In step S13, a third anatomical model associated with the respiratory coefficient is obtained, such as Figure 6 As shown, it may include:

[0104] S131, obtaining a first geodesic distance of the first anatomical model and a second geodesic distance of the second anatomical model.

[0105] In this embodiment, when the anatomical structure is a bronchus (usually referring to the pulmonary bronchus), the first geodesic distance (Geodesic Distance) from the main carina point to the end point of the lower lobe in the first anatomical model and the second geodesic distance from the main carina point to the end point of the lower lobe in the second anatomical model are calculated respectively. Among them, the main carina point refers to the bifurcation point of the left and right bronchi, and the end point of the lower lobe refers to the point in the bronchial model that is closest to the human diaphragm. In some embodiments, when the first anatomical model is a three-dimensional mesh model, the geodesic distance is the shortest path distance from the main carina point to the end point of the lower lobe along the mesh surface in the first anatomical model; in another embodiment, when the first anatomical model is a three-dimensional point cloud model, it is necessary to use all the points in the three-dimensional point cloud to construct a surface structure similar to a mesh, and then calculate the geodesic distance by finding the shortest path from the main carina point to the end point of the lower lobe in the graph. The first anatomical model or the second anatomical model contains the target tissue, such as Figure 7 As shown, in the first anatomical model, the geodesic line 10 is formed from the main carina point to the end point of the lower lobe. The geodesic line 10 is a line on the grid surface. The length of the geodesic line 10 is the geodesic distance. The target tissue 20 is exactly at the end point of the lower lobe.

[0106] S132: Determine a maximum shrinkage ratio of the first anatomical model or the second anatomical model according to the first geodesic distance and the second geodesic distance.

[0107] In some embodiments, for example, the first geodesic distance GDIn of the first anatomical model in the first state is obtained before surgery, and GDIn is 166 mm; the second geodesic distance GDEx of the second anatomical model in the second state is obtained before surgery, and GDEx is 127 mm; then the maximum shrinkage ratio of the first anatomical model or the second anatomical model is determined according to the ratio of the first geodesic distance to the second geodesic distance: ShrinkMax = GDEx / GDIn, at this time, ShrinkMax is approximately 0.76.

[0108] S133, determining a scaling ratio of the first anatomical model or the second anatomical model according to the breathing coefficient and the maximum contraction ratio, and scaling the first anatomical model or the second anatomical model based on the scaling ratio.

[0109] The scaling ratio Shrink of the first anatomical model or the second anatomical model is determined according to the breathing coefficient F and the maximum shrinkage ratio ShrinkMax of the model. The calculation formula is:

[0110]

[0111] Since the bronchi in the expiratory state are not only overall shrunk relative to the bronchi in the inspiratory state, but also some terminal branch bronchi are too narrow to be imaged in the medical CT image space, therefore, in some embodiments, the affine transformation is based on the first anatomical model of the patient in the first state, that is, the first anatomical model in the fully inspiratory state, for scaling and translation. For example, when the respiratory coefficient is -1, it can be substituted into formula (7) to know that Shrink is equal to ShrinkMax, which is approximately 0.76, that is, based on the first anatomical model in the fully inspiratory state, the affine transformation is used to perform proportional shrinkage at a shrinkage ratio of 0.76 to obtain the third anatomical model in the fully exhaled state. The effect is as follows. Figure 8 As shown, the left figure is a second anatomical model 63 obtained based on the second medical image in the second state before the operation (fully exhaled state), and the right figure is a third anatomical model 64 obtained by shrinking the first anatomical model in the first state (fully inhaled state) by affine transformation with a shrinkage ratio of 0.76. At this time, the third anatomical model 64 is in a fully exhaled state. It can be seen from the effect diagram that the third anatomical model 64 and the second anatomical model 63 are basically the same size and the length of the bronchial trunk is also basically the same. However, the third anatomical model 64 well retains the shape of the terminal branch bronchus, solving the problem that the second medical CT image in the expiratory phase is often unable to segment the bronchial terminal due to unclear imaging (container effect, it is difficult to image small bronchi). In addition, the complete and clearly structured terminal branch bronchi are of great help in improving navigation accuracy, and can better determine whether the path taken by the catheter is correct.

[0112] In some embodiments, the scaling of the first anatomical model or the second anatomical model can be achieved by an affine transformation of a matrix, that is, multiplying by a scaling matrix S to obtain a third anatomical model, where the coordinates of the third anatomical model are each vertex of the first anatomical model multiplied by the matrix Transform:

[0113] Transform=T2(Xn,Yn,Zn)·S(x,y,z)·T1(-Xn,-Yn,-Zn) Formula (8)

[0114] Wherein, S represents a scaling matrix, T1 represents a first translation matrix, and T2 represents a second translation matrix.

[0115]

[0116]

[0117]

[0118] In step S133, if Fig. 9As shown, taking the first anatomical model as an example, the overall affine transformation process of the first anatomical model, that is, the scaling process, is:

[0119] S1331, obtaining a first centroid of the first anatomical model and a second centroid of the second anatomical model.

[0120] The centroid can also be called the centroid, that is, the center of the shape, and its coordinates can be the average coordinates of all skeleton points constituting the pipeline centerline. Since the pipeline centerline is obtained by processing the medical image, its density can be considered to be uniform, so the centroid of the pipeline centerline is also the centroid. When the anatomical model is a three-dimensional mesh model, the first centroid can be obtained by calculating the average coordinate values ​​of all vertices in the first anatomical model, and the second centroid can be obtained by calculating the average coordinate values ​​of all vertices in the second anatomical model.

[0121] S1332, obtain a scaling matrix S, a first translation matrix T1, and a second translation matrix T2.

[0122] S1333: According to the first translation matrix T1, the first anatomical model located at the initial position is moved toward the origin with the first centroid as the reference, so that the first centroid coincides with the coordinate origin of the first medical image.

[0123] The coordinate origin of the first medical CT image is in the upper left corner, the x-axis is horizontal to the right, and the y-axis is horizontal to the bottom, while the first anatomical model image is in the lower right area of ​​the coordinate system. During the affine transformation, the vertices of the first anatomical model are moved toward the coordinate origin of the first medical image, and the first centroid is used as the standard for translation, and the first centroid of the first anatomical model is just moved to the origin so that the first centroid coincides with the coordinate origin. Then, the value of the first centroid moved to the origin is the value that all vertices in the first anatomical model need to be translated. For example, in the coordinate system of the CT image, the coordinate value of the first centroid of the first anatomical model is (Ox, Oy, Oz). After being moved to the origin by the T1 translation matrix (-Ox, -Oy, -Oz), the coordinate value of the centroid of the first anatomical model coincides with the coordinate value of the origin (0, 0, 0).

[0124] S1334, determining a scaling ratio Shrink of the first anatomical model according to the breathing coefficient F and the maximum shrinkage ratio ShrinkMax of the first anatomical model.

[0125] S1335, with the first centroid of the first anatomical model as the center, or with the coordinate origin of the first medical image as the center, the first anatomical model is proportionally scaled based on the scaling ratio, that is, Sx, Sy, and Sz are all equal to Shrink, indicating that the scaling ratios of the first anatomical model in three directions are the same, that is, geometric scaling. At this time, the scaling matrix S is the product of the scaling ratio Shrink and the unit matrix.

[0126] S1336, moving the geometrically scaled first anatomical model back to the initial position using a second translation matrix. Using a T2 translation matrix (Ox, Oy, Oz) to move the scaled first anatomical model back to the initial position with the first centroid as the center, the scaling of the first anatomical model is achieved.

[0127] The scaling of the second anatomical model may refer to the overall scaling process of the first anatomical model, which will not be described in detail here.

[0128] S134: Translate the scaled first anatomical model or the second anatomical model to obtain a third anatomical model associated with the breathing coefficient.

[0129] Since breathing not only causes the scaling of anatomical structures, but also causes the movement of anatomical structures and target tissues. For example, breathing not only causes the scaling of bronchi, but also causes the movement of bronchi and lesions, thereby causing the relative position of the target tissue and the scaled first anatomical model (bronchial model caused by breathing) or the second anatomical model to change relative to other tissues such as bones. Therefore, it is necessary to translate the first anatomical model or the second anatomical model from the position before scaling to the position after scaling. In the present application, the first anatomical model or the second anatomical model includes the target tissue. In one embodiment, the motion offset vector between the first anatomical model and the second anatomical model can be determined based on the first center of mass and the second center of mass, and the motion offset vector includes the magnitude and direction of the translation.

[0130] Acquiring the motion offset vector includes: acquiring the first center of mass of the first anatomical model and the second center of mass of the second anatomical model, and determining the motion offset vector between the first anatomical model and the second anatomical model according to the first center of mass and the second center of mass. For example, by acquiring the second anatomical model of the first anatomical model before surgery, the first center of mass of the first anatomical model (inhalation model) in the first state is calculated as CentroidIn(Xn,Yn,Zn), and the second center of mass of the first anatomical model (respiratory model) in the second state is calculated as CentroidEx(Xm,Ym,Zm), and the motion offset vector MoveTotal from the inhalation model to the exhalation model is calculated, wherein MoveTotal={Xm–Xn,Ym–Yn,Zm-Zn}.

[0131] According to the current breathing coefficient F and the motion offset vector MoveTotal, the vector Move that the target tissue and the scaled first anatomical model or the second anatomical model need to translate as a whole can be calculated. The calculation formula is as follows:

[0132]

[0133] The scaled first anatomical model or the second anatomical model is translated according to the translation vector Move to obtain a third anatomical model associated with the respiratory coefficient in the current state.

[0134] Therefore, the third anatomical model associated with the breathing coefficient in the current state can be obtained through the above steps S131 to S134.

[0135] In one embodiment, when the anatomical structure is the urinary system, the above steps S11 to S13 can be applied to the urinary catheter robot to perform supracostal percutaneous nephroscopic puncture under the guidance of CT images. In the treatment of urinary stones, if the stones in the kidney are large and hard, percutaneous nephroscopic puncture is usually required, and the puncture needle is inserted into the target renal calyx through the skin. Puncture is divided into supracostal puncture and subcostal puncture. The biggest challenge of supracostal puncture is that puncture and expansion can easily cause damage to the pleura and adjacent organs (liver, pancreas). Under different respiratory states, the distance between the pleura and organs such as the diaphragm and the renal calyx is different. In the inhalation state, the pleura is at the lowest position and closest to the kidney. At this time, the risk of pleural and lung lobe damage during intercostal puncture is also the highest. Therefore, percutaneous nephroscopic puncture on the ribs is usually performed during the exhalation stage. Calculating and judging the patient's real-time respiratory state and calculating the distance between the pleura and the kidney are very important to improve the safety of the puncture.

[0136] Similar to steps S11 to S13, the urinary catheter robot performs supracostal percutaneous nephroscopic puncture under the guidance of the CT image. Due to the influence of breathing, the scaling of the anatomical structure (organs such as the pleura and diaphragm) may include the following steps:

[0137] (1) Before surgery, a medical image, such as a CT image, can be obtained by scanning the target area of ​​the patient. Organs and tissues such as the pleura, diaphragm, kidneys, and ureters can be segmented from the CT image and reconstructed into a three-dimensional model.

[0138] (2) installing a second electromagnetic sensor on the patient's chest and collecting EM data in real time, wherein the number of the second electromagnetic sensors is at least three;

[0139] (3) A first sensor is provided in the catheter, which is in the world coordinate system. The catheter moves through the ureter into the renal calyx, and the electromagnetic data at the end of the catheter is collected to obtain the movement path of the catheter, and the CT image and the world coordinate system are aligned. The aligned data are the movement path of the catheter and the three-dimensional model of the ureter in the CT image (including the center line of the pipeline). After the alignment, the three-dimensional spatial relationship between the puncture needle and the organ tissue can be displayed in real time in the CT image space, and the spatial relationship such as the distance between the puncture needle and tissues such as the pleura can be calculated in the CT image space.

[0140] (4) Acquire real-time electromagnetic data of the second electromagnetic sensor and calculate the respiratory coefficient F, and change the size and position of the three-dimensional model of the pleura and diaphragm. Changing the size and position of the three-dimensional model of the pleura and diaphragm here is similar to obtaining anatomical models associated with different respiratory coefficients in the above steps S131 to S134, and will not be repeated here. The difference is that the maximum contraction ratio of the pleura and diaphragm is calculated by calculating the ratio of the surface area of ​​the three-dimensional model surface in the exhalation state and the inhalation state, that is, using the surface area instead of the geodesic distance.

[0141] (5) The respiratory status is determined based on the respiratory coefficient F. If the respiratory coefficient is less than 0, that is, the patient is in an exhalation state, the operating software prompts the doctor to perform the percutaneous puncture operation; if the patient's respiratory coefficient is greater than 0, that is, the patient is in an inhalation state, the operating software prompts the doctor to suspend the operation.

[0142] (6) During the puncture process, the operating software will prompt the doctor in real time the distance between the puncture needle and the pleura and kidney. If the puncture needle is too close to the pleura, such as less than 5 mm, the software will prompt the doctor to suspend the operation, thereby improving the safety and accuracy of the puncture during the operation.

[0143] Therefore, the method of the present application eliminates the influence of anatomical structure caused by breathing, and can be applied to a urinary catheter robot to perform supracostal percutaneous nephroscopic puncture under the guidance of CT images.

[0144] In another embodiment, continue to refer to Figure 3 After step S13, the method further includes:

[0145] Step S14, obtaining a plurality of actual path points sensed by the first sensor in the anatomical structure, and obtaining a simulated path point cloud based on the plurality of actual path points.

[0146] The first sensor collects and stores multiple actual path points of the catheter end in the anatomical structure to obtain the movement state of the catheter during intraoperative navigation, which includes the shape of the catheter and the position of the catheter end. During the intraoperative navigation process, the first sensor senses the EM (electromagnetic) data of the catheter end in real time, and the EM data can also be called an actual path point. An actual path point reflects the position of the catheter end / instrument end when the first sensor feeds back. The actual path points obtained by multiple feedbacks from the same first sensor are arranged according to the feedback time to obtain the movement path of the catheter end and / or the instrument end. The set of these actual path points can be called a path point set or a path point cloud.

[0147] According to the first transformation matrix, the simulated path points of the catheter corresponding to the actual path points in the first anatomical model or the second anatomical model are obtained. The first transformation matrix can be a transformation matrix between the world coordinate system and the anatomical model. According to the first transformation matrix, the actual path points can be transformed from the world coordinate system to the coordinate system of the anatomical model to obtain the simulated path points. That is, according to the first transformation matrix, the simulated path points of the catheter corresponding to the actual path points in the first anatomical model or the second anatomical model are obtained, and then based on multiple simulated path points, a simulated path point cloud can be obtained. The simulated path points reflect the position of the catheter end / instrument end in the first anatomical model. Combined with the display parameters of the surgical site, the position of the catheter end / instrument end in the displayed surgical site can be obtained, thereby integrating the display of the surgical site with the catheter / instrument therein to achieve intraoperative navigation.

[0148] Obtain a target path point cloud for the planned path, where the planned path is the navigation path for the catheter to reach the target tissue, and the target path point cloud includes multiple target path points. De-duplicate the simulated path point cloud based on the target path point cloud to obtain a valid simulated path point cloud. Since the catheter may move repeatedly in the anatomical structure during the process of reaching the target tissue, in order to reduce the amount of calculation, it is necessary to pre-process the simulated path point cloud, which includes data de-duplication processing, denoising and other operations.

[0149] In some embodiments, the process of data deduplication includes: collecting the simulated path point cloud at the end of the catheter through the first sensor, finding the matching points in the target path point cloud, and the simulated path point cloud includes multiple simulated path point subsets; if there is any simulated path point subset that matches the same matching point on the planned path, then taking the average of this simulated path point subset to obtain a valid simulated path point cloud. For example, if a simulated path point subset at the end of the catheter is point Q1 (X1, Y1, Z1) and point Q2 (X2, Y2, Z2), the corresponding points with the closest Euclidean distance on the planned path are all K points, that is, the matching points of points Q1 and Q2 in the simulated path point subset in the target path point cloud are all K points, then taking the average of point Q1 and point Q2 to obtain a valid simulated path point C, where C = 1 / 2*(X1+X2, Y1+Y2, Z1+Z2). Fig.10 As shown, the left figure is a simulated path point cloud 60 of repeated movement of the catheter, and the right figure is an effective simulated path point cloud 61, that is, the effective simulated path point cloud 61 is the catheter movement path after deduplication, and the shape of the catheter can be simulated through the movement path of the catheter. The simulated path point cloud at the end of the catheter is collected by the first sensor, and the shape of the catheter can be fitted in real time based on the sampling algorithm of space and time.

[0150] Step S15, obtaining a model point cloud, wherein the model point cloud includes a plurality of skeleton points of the pipeline centerline of the third anatomical model and / or a plurality of vertices of the pipeline wall.

[0151] A model point cloud is obtained from the third anatomical model, wherein the model point cloud includes a plurality of skeleton points of the pipeline centerline of the third anatomical model and / or a plurality of vertices of the pipeline wall. The skeleton points can be obtained, for example, by first extracting the pipeline centerline from the third anatomical model and then discretizing the pipeline centerline to obtain the skeleton points. The vertices of the pipeline wall can be obtained, for example, by first extracting the pipeline wall from the third anatomical model and then discretizing the pipeline wall to obtain the vertices of the pipeline wall.

[0152] Step S16, registering the simulation path point cloud and the model point cloud.

[0153] In step S16, if Fig.11 As shown, registering the simulation path point cloud and the model point cloud includes:

[0154] S161, identifying the simulated path point cloud belonging to the first area in the simulated path point cloud, deleting the simulated path point cloud belonging to the first area, and retaining the simulated path point cloud belonging to the second area.

[0155] In some embodiments, taking the anatomical structure as a bronchus as an example, the bronchus includes a first region and a second region, the first region includes a main bronchus region, and the second region includes a terminal branch bronchus region. For example, the entire third anatomical model can be divided into zones, with tubes with a diameter greater than 5 mm being divided into the first zone, and tubes with a diameter less than 5 mm being divided into the second zone.

[0156] The method for identifying whether the simulated path point cloud of the catheter end belongs to the first region or the second region is: determining the matching point of the simulated path point cloud of the catheter end and the third anatomical model, if the corresponding matching point on the third anatomical model belongs to the main bronchus region, then the simulated path point cloud of the catheter end belongs to the first region. Fig.12 As shown, the left figure shows the effective simulation path point cloud 61 of the catheter after deduplication of the simulation path point cloud 60, and the effective simulation path point cloud 61 includes the effective simulation path point cloud 611 of the first area and the effective simulation path point cloud 612 of the second area. The right figure shows that after the effective simulation path point cloud 611 belonging to the first area in the catheter is deleted, the effective simulation path point cloud 612 of the second area is retained.

[0157] S162, acquiring a model point cloud of the second region based on the third anatomical model, that is, acquiring a model point cloud of the terminal branch bronchus region based on the third anatomical model.

[0158] S163, determining a second transformation matrix between the model point cloud and the simulation path point cloud.

[0159] The ICP algorithm is used to determine the second transformation matrix between the model point cloud and the simulation path point cloud. The ICP algorithm is the iterative closest point (ICP) algorithm in point cloud registration. Its core idea is to minimize the distance between two point sets and make the two point sets close to each other through iteration. The principle of ICP is briefly introduced below.

[0160] The basic method of ICP includes two steps: 1. Match point clouds Q and P to find the corresponding point pairs between them; 2. Calculate the transformation matrix between point clouds Q and P based on the corresponding point pairs. A corresponding point pair consists of two points, one from point cloud P and the other from point cloud Q. These two points are each other's matching points, and these two points are considered to be corresponding, that is, the two points are essentially equivalent.

[0161] If the real and accurate corresponding point pairs can be found directly, then the above process only needs to be performed once to directly calculate a sufficiently accurate transformation matrix. However, it is difficult to directly find accurate corresponding point pairs in practical applications, so ICP will match according to the principle of the closest distance (generally Euclidean distance), that is, for each point in point cloud P, find the point closest to it in point cloud Q as its matching point. Then calculate a transformation matrix based on these point pairs. After completing a round of calculations, ICP will determine whether the iteration stop condition is met. If not, the transformation matrix obtained by this round of calculations is used to transform and update point cloud P, and then point cloud Q and the transformed point cloud P are used to repeat the above process until the iteration stops. Exemplarily, the default condition for stopping the iteration is that the difference in error between the previous and next iterations is less than 0.01, but sometimes the difference between point clouds is so large that the convergence condition cannot be met, so it is necessary to set an upper limit on the number of iterations, for example, it can be set to 500.

[0162] In this embodiment, the model point cloud P of the third anatomical model is matched with the simulated path point cloud Q of the catheter, and the ICP algorithm can be used to determine the second transformation matrix MatrixBrToTube between the model point cloud and the simulated path point cloud.

[0163] S164, registering the simulation path point cloud and the model point cloud according to the second transformation matrix, so that the model point cloud and the simulation path point cloud overlap.

[0164] In one embodiment, the second region is easily deformed by the compression of the catheter because of its small diameter, softness and similar shape to the catheter, while the first region is less affected by the movement of the catheter. Therefore, it is allowed to only obtain the second transformation matrix between the simulated path point cloud of the second region and the model point cloud of the second region, and align the simulated path point cloud of the second region with the model point cloud of the second region so that the model point cloud of the second region coincides with the simulated path point cloud of the second region.

[0165] like Fig.13 and Fig.14 As shown, the effective simulation path point cloud 612 of the second region of the catheter, the model point cloud 614 of the second region in the third anatomical model, and the model point cloud 614 includes a plurality of skeleton points 613 of the pipeline centerline. Fig.13 As shown in the left figure, due to the movement of the catheter during the operation, the effective simulation path point cloud 612 of the second area in the catheter deviates from the multiple skeleton points 613 of the pipeline centerline of the second area in the third anatomical model. Therefore, it is necessary to use the second transformation matrix MatrixBrToTube to rigidly transform the multiple skeleton points 613 of the pipeline centerline of the second area in the third anatomical model, that is, in the three-dimensional model, each vertex of the second area in the third anatomical model is translated and rotated using the second transformation matrix MatrixBrToTube. Fig.13 As shown in the right figure, after applying the second transformation matrix, multiple skeleton points 613 of the pipeline centerline of the second region in the third anatomical model are substantially overlapped with the effective simulation path point cloud 612 of the second region of the catheter. Fig.14 As shown in the left figure, due to the movement of the catheter during the operation, the effective simulation path point cloud 612 of the second area of ​​the catheter deviates from the model point cloud 614 of the second area in the third anatomical model. After the model point cloud 614 of the second area in the third anatomical model is transformed according to the second transformation matrix MatrixBrToTube, as shown in FIG. Fig.14 As shown in the right figure, the effective simulation path point cloud 612 of the second region of the catheter is basically within the second region of the third anatomical model, that is, the model point cloud of the second region in the third anatomical model is basically overlapped with the simulation path point cloud of the second region in the catheter. Therefore, it can be understood that according to the effective simulation path point cloud 612 of the second region of the catheter, by dynamically modifying the position and shape of the model point cloud 614 of the second region in the third anatomical model, the third anatomical model better reflects the real state of the patient's anatomical structure.

[0166] S17, determining whether the catheter has reached the vicinity of the target tissue position. If the catheter has not reached the vicinity of the target tissue position, repeating the above steps S13 to S16; otherwise, executing S18 to end the navigation.

[0167] The method of the present application has the following beneficial effects:

[0168] On the one hand, the present application can obtain a dynamic and accurate third anatomical model by eliminating the influence of breathing and the movement of the catheter on the anatomical structure and the target tissue. The doctor can also know the shape of the catheter and the anatomical structure accurately in real time, so that the third anatomical model can better reflect the actual state of the patient's anatomical structure and improve the success rate of the operation. On the other hand, the third anatomical model of the present application can replace part of the DR image, assist the doctor in judging the distance between the catheter and the target tissue, reduce the number of DR or CBCT shots, and reduce the amount of radiation intake by the patient. In addition, the third anatomical model of the present application can also provide guidance for the movement direction of the subsequent catheter, better adjust the angle of the catheter, align the center of the target tissue, and improve the success rate of the operation.

[0169] The present application introduces a breathing coefficient F to represent the patient's breathing state: based on the area measured by the second sensor, the area is dynamically converted into a breathing coefficient in the interval [-1,1] in real time, where -1 represents the second state of complete exhalation, and 1 represents the second state of complete inhalation. The degree of inhalation or exhalation can be represented by the coefficient. Through the breathing coefficient, a dynamic third anatomical model between inhalation and exhalation can be interpolated more accurately.

[0170] The present application eliminates the effects of breathing and catheter movement on anatomical structures and target tissues. On the one hand, it is possible to obtain a dynamic and accurate third anatomical model, thereby improving the accuracy of the registration algorithm. The position of the catheter end and / or the instrument end displayed on the third anatomical model is closer to the actual position. Higher accuracy is helpful in determining whether the catheter end or the instrument end (such as a biopsy needle) has reached the lesion, reducing the number of DR or CBCT scans during surgery and reducing the radiation intake of doctors and patients.

[0171] On the other hand, the shape of the catheter and the anatomical structure can be accurately known in real time, providing guidance for the movement direction of the subsequent catheter, better adjusting the angle of the catheter, aligning the center of the target tissue, and improving the success rate of the operation. In addition, in one embodiment of the present application, the second sensor only needs to set three general electromagnetic sensors, such as NDI or Oumei; and in terms of the inference of the shape of the catheter, only one electromagnetic sensor is needed at the end of the catheter, which reduces the hardware facility cost compared to the shape perception in the prior art, and achieves the effect of low hardware facility cost, easy acquisition and promotion.

[0172] This application is used as Fig.15 , a user interface 800 schematic diagram of a doctor guiding the distal end of a catheter inserted into a bronchus and / or the distal end of an instrument to reach a target tissue through a visualization system. The user interface 800 may display a camera view window 810, a local anatomical model view 820, a global anatomical model view 830, an indicator window 840, and a control window 850.

[0173] The camera view window 810 displays the camera data captured by the visualization system of the medical device. For example, the camera data may include a camera image field of view or camera video data captured by a stereo camera or a monoscopic camera mounted on an endoscope at the end of a catheter.

[0174] One or more indicator windows 840 can display the current operation prompt and screen recording button, and can also display the status of the catheter, such as displaying the inner bend angle or outer bend angle information of the catheter, and prompting the doctor to perform the surgical operation or pause the surgical operation.

[0175] The control window 850 may display the status of each device connection, such as the operating handle, catheter, magnetic navigation, suction, flushing, and locked or activated status.

[0176] In some embodiments, the local anatomical model view 820 displays an image of the local anatomical model corresponding to the end of the catheter to simulate the field of view image of the endoscope. When the anatomical model is a bronchus, the local anatomical model can be a local virtual bronchial model, and the virtual visualization system can generate virtual bronchial model image data using, for example, a preoperative CT image. The virtual bronchial model image data can display the real-time position of the catheter inside the patient's bronchus.

[0177] In some embodiments, the global anatomical model view 830 shows the doctor observing the complete anatomical model from a global perspective, for example, the doctor can observe the position of the catheter in the bronchial model from the overall bronchial model. The catheter device and the person and the method for improving registration of the present application can achieve the real-time transformation of the end posture of the third anatomical model in the global anatomical model view 830 during the intraoperative navigation process according to the different respiratory states of the patient, so that the third anatomical model better reflects the real state of the patient's anatomical structure and improves the success rate of the operation.

[0178] Despite Fig.15 Five windows that can be viewed simultaneously on a single screen are depicted in the figure, but it should be understood that the user interface 800 can display an appropriate number of windows according to user needs.

[0179] The present application also provides a control device for a catheter robot. Fig.16 , which shows a schematic diagram of the structure of a control device for a catheter system provided by an embodiment of the present application. Fig.16 As shown, the control device 600 includes: a processor 70, a memory 71, a bus 72 and a communication interface 73, and the processor 70, the communication interface 73 and the memory 71 are connected via the bus 72; the memory 71 stores computer program instructions that can be executed by the processor 70, and when the processor 70 executes the computer program instructions, it can specifically execute the relevant steps in the above method embodiment.

[0180] The memory 71 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk memory. The communication connection between the device network element and at least one other network element is realized through at least one communication interface 73 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used.

[0181] The bus 72 may be an ISA bus, a PCI bus, or an EISA bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. The memory 71 is used to store programs, and the processor 70 executes the programs after receiving the execution instructions. The alignment method of the catheter robot disclosed in any of the embodiments of the present application may be applied to the processor 70, or implemented by the processor 70.

[0182] The processor 70 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The various methods, steps and logic block diagrams disclosed in the embodiments of the present application may be implemented or executed. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc. The one or more processors included in the control device may be processors of the same type, such as one or more CPUs, or one or more GPUs; or they may be processors of different types, such as one or more CPUs and one or more GPUs.

[0183] The control device of the catheter robot provided in the embodiment of the present application and the alignment method of the catheter robot provided in the embodiment of the present application are based on the same inventive concept and have the same beneficial effects as the methods adopted, operated or implemented therein.

[0184] The present application also provides a computer-readable storage medium corresponding to the registration method of the catheter robot provided in the above-mentioned embodiment, on which computer program instructions are stored, and when the computer program instructions are executed by the processor, the registration method of the catheter robot provided in any of the above-mentioned embodiments will be implemented. It should be noted that examples of the computer-readable storage medium may include, but are not limited to, optical disks, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other optical and magnetic storage media, which will not be repeated here.

[0185] The computer-readable storage medium provided in the above-mentioned embodiment of the present application and the catheter robot registration method provided in the embodiment of the present application are based on the same inventive concept and have the same beneficial effects as the method adopted, run or implemented by the application program stored therein.

[0186] An embodiment of the present application provides a computer program product. When the computer program product runs on a mobile terminal, the mobile terminal can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0187] It should be noted that:

[0188] In the description provided herein, a large number of specific details are described. However, it is understood that the embodiments of the present application can be practiced without these specific details. In some instances, well-known structures and technologies are not shown in detail so as not to obscure the understanding of this description.

[0189] Similarly, it should be understood that in order to streamline the present application and help understand one or more of the various inventive aspects, in the above description of the exemplary embodiments of the present application, the various features of the present application are sometimes grouped together into a single embodiment, figure, or description thereof. However, the disclosed method should not be interpreted as reflecting the following schematic diagram: the claimed application requires more features than the features clearly stated in each claim. More specifically, as reflected in the claims below, the inventive aspects are less than all the features of the single embodiment disclosed above. Therefore, the claims following the specific embodiment are hereby expressly incorporated into the specific embodiment, wherein each claim itself serves as a separate embodiment of the present application.

[0190] In addition, those skilled in the art will appreciate that, although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present application and form different embodiments. For example, in the claims, any one of the claimed embodiments can be used in any combination.

[0191] The above is only a preferred specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

[0192] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules based on needs, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0193] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0194] Those skilled in the art will appreciate that the units and algorithm steps of each example 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 performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0195] In the embodiments provided by the present invention, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0196] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected based on actual needs to achieve the purpose of the solution of this embodiment.

[0197] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0198] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased based on the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, based on legislation and patent practice, the computer-readable medium does not include electric carrier signals and telecommunication signals.

[0199] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0200] It should also be understood that the term “and / or” used in the specification and appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0201] As used in the specification of this application and the appended claims, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting" depending on the context. Similarly, the phrase "if it is determined" or "if the described condition or event is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce the described condition or event is detected" or "in response to detecting the described condition or event" depending on the context.

[0202] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0203] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0204] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A catheter robot, characterized in that: include: catheter; A first sensor, disposed on the catheter, for sensing the position of the distal end of the catheter; A second sensor is disposed on the patient's body surface and is used to obtain the patient's body surface data; and A control device, coupled to the first sensor and configured to: Acquire a first medical image of an anatomical structure of a patient in a first state and generate a first anatomical model based on the first medical image; Acquire a second medical image of the patient's anatomical structure in a second state and generate a second anatomical model based on the second medical image; Acquire body surface data sensed by the second sensor, and determine a breathing coefficient of a current state based on the body surface data; Based on the breathing coefficient and the first anatomical model, acquiring a third anatomical model associated with the breathing coefficient, or, based on the breathing coefficient and the second anatomical model, acquiring a third anatomical model associated with the breathing coefficient; Acquire a plurality of actual path points sensed by the first sensor in the anatomical structure, and acquire a simulated path point cloud based on the plurality of actual path points; Acquire a model point cloud, wherein the model point cloud includes a plurality of skeleton points of a pipeline centerline and / or a plurality of vertices of a pipeline wall of the third anatomical model; The simulation path point cloud is registered with the model point cloud.

2. The catheter robot according to claim 1, characterized in that: The first state includes an inhalation state, and the second state includes an exhalation state.

3. The catheter robot according to claim 1, characterized in that: The number of the second sensors is at least three, the body surface data includes body surface data sensed by the second sensors in at least one respiratory cycle, and the determining of the respiratory coefficient of the current state includes: Determine the area of ​​the figure enclosed by the second sensor according to the body surface data, the area includes a first area, a second area and a third area, the first area includes the area of ​​the figure enclosed by the second sensor in a first state, the second area includes the area of ​​the figure enclosed by the second sensor in a second state, and the third area is the area of ​​the figure enclosed by the second sensor in a current state; A breathing coefficient of a current state is determined according to the area.

4. The catheter robot according to claim 3, characterized in that: The first area includes a maximum area of ​​a figure enclosed by the second sensors in a first state, and the second area includes a minimum area of ​​a figure enclosed by the second sensors in a second state.

5. The catheter robot according to claim 1, characterized in that: The obtaining of the third anatomical model associated with the breathing coefficient comprises: Acquire a first geodesic distance of the first anatomical model and a second geodesic distance of the second anatomical model; determining a maximum shrinkage ratio of the first anatomical model or the second anatomical model according to the first geodesic distance and the second geodesic distance; Determining a scaling ratio of the first anatomical model or the second anatomical model according to the breathing coefficient and the maximum contraction ratio; scaling the first anatomical model or the second anatomical model based on the scaling ratio; The scaled first anatomical model or the second anatomical model is translated to obtain a third anatomical model associated with the breathing coefficient.

6. The catheter robot according to claim 5, characterized in that: The scaling of the first anatomical model or the second anatomical model comprises: Acquire a first centroid of the first anatomical model and a second centroid of the second anatomical model; The first anatomical model is scaled proportionally based on the scaling ratio with the first mass center as the center; or the second anatomical model is scaled proportionally based on the scaling ratio with the second mass center as the center.

7. The catheter robot according to claim 5, characterized in that: The step of translating the scaled first anatomical model or the second anatomical model comprises: Acquire a first centroid of the first anatomical model and a second centroid of the second anatomical model; determining a motion offset vector between the first anatomical model and the second anatomical model according to the first mass center and the second mass center; Determining a translation vector of the scaled first anatomical model or the second anatomical model according to the breathing coefficient and the motion offset vector; The scaled first anatomical model or the second anatomical model is translated according to the translation vector.

8. The catheter robot according to claim 1, characterized in that: The acquiring of a simulated path point cloud based on the multiple actual path points comprises: acquiring a plurality of actual path points of the catheter in the anatomical structure sensed by the first sensor; The simulated path points of the catheter corresponding to the actual path points in the first anatomical model or the second anatomical model are acquired according to the first transformation matrix, and a simulated path point cloud is acquired based on the plurality of simulated path points.

9. The catheter robot according to claim 8, characterized in that: The simulated path point cloud also includes a valid simulated path point cloud, and the registering the simulated path point cloud with the model point cloud includes: Registering the effective simulation path point cloud with the model point cloud; wherein obtaining the model point cloud comprises: Acquire a target path point cloud of a planned path, wherein the planned path is a navigation path of the catheter to reach a target tissue, and the target path point cloud includes a plurality of target path points; The simulated path point cloud is deduplicated based on the target path point cloud to obtain a valid simulated path point cloud.

10. The catheter robot according to claim 1, characterized in that: The registering the simulation path point cloud with the model point cloud comprises: Determining a second transformation matrix between the model point cloud and the simulation path point cloud; The simulation path point cloud and the model point cloud are registered according to the second transformation matrix so that the model point cloud and the simulation path point cloud overlap.

11. The catheter robot according to claim 10, characterized in that: The anatomical structure includes a bronchus, the bronchus includes a first region and a second region, the first region includes a main bronchus region, the second region includes a terminal branch bronchus region, and the registering the simulation path point cloud with the model point cloud includes: identifying a simulated path point cloud belonging to the first area in the simulated path point cloud; Deleting the simulated path point cloud belonging to the first area, and retaining the simulated path point cloud belonging to the second area; Acquire a model point cloud of the second region based on the third anatomical model; Acquire a second transformation matrix between the simulation path point cloud of the second area and the model point cloud of the second area; The simulated path point cloud of the second area is registered with the model point cloud of the second area according to the second transformation matrix, so that the model point cloud of the second area coincides with the simulated path point cloud of the second area.

12. The catheter robot according to claim 1, characterized in that: The control device is also configured to: A respiratory state of the patient is determined based on the respiratory coefficient, and movement of the catheter in the anatomical structure is enabled or disabled based on the respiratory state.

13. The catheter robot according to claim 12, characterized in that: Determining the patient's respiratory state based on the respiratory coefficient, and enabling or disabling movement of the catheter in the anatomical structure based on the respiratory state comprises: When the respiratory coefficient is a positive value, the respiratory state is determined to be an inhalation state, enabling the movement of the catheter in the anatomical structure; or, when the respiratory coefficient is a negative value, the respiratory state is determined to be an exhalation state, prohibiting the movement of the catheter in the anatomical structure.

14. The catheter robot according to claim 1, characterized in that: The control device is also configured to: A respiratory state of the patient is determined based on the respiratory coefficient, and a prompt is generated based on the respiratory state as to whether to allow movement of the catheter in the anatomical structure.

15. The catheter robot according to claim 14, characterized in that: The determining the patient's respiratory state based on the respiratory coefficient and generating a prompt of whether to allow the catheter to move in the anatomical structure based on the respiratory state comprises: When the respiratory coefficient is a positive value, the respiratory state is determined to be an inhalation state, and a prompt is generated to allow the movement of the catheter in the anatomical structure; or, when the respiratory coefficient is a negative value, the respiratory state is determined to be an exhalation state, and a prompt is generated to prohibit the movement of the catheter in the anatomical structure.

16. A catheter robot, characterized in that: include: catheter; A first sensor, disposed on the catheter, for sensing the position of the distal end of the catheter; A second sensor is disposed on the patient's body surface and is used to obtain the patient's body surface data; and A control device, coupled to the first sensor and configured to: Acquire a first medical image of an anatomical structure of a patient in a first state and generate a first anatomical model based on the first medical image; Acquire a second medical image of the patient's anatomical structure in a second state and generate a second anatomical model based on the second medical image; Acquire body surface data sensed by the second sensor, and determine a breathing coefficient of a current state based on the body surface data; Based on the breathing coefficient and the first anatomical model, a third anatomical model associated with the breathing coefficient is obtained; or, based on the breathing coefficient and the second anatomical model, a third anatomical model associated with the breathing coefficient is obtained.

17. A catheter robot registration method, characterized in that: include: Acquire a first medical image of an anatomical structure of a patient in a first state and generate a first anatomical model based on the first medical image; Acquire a second medical image of the patient's anatomical structure in a second state and generate a second anatomical model based on the second medical image; Acquire body surface data sensed by the second sensor, and determine a breathing coefficient of a current state based on the body surface data; Based on the breathing coefficient and the first anatomical model, acquiring a third anatomical model associated with the breathing coefficient, or, based on the breathing coefficient and the second anatomical model, acquiring a third anatomical model associated with the breathing coefficient; Acquire a plurality of actual path points sensed by the first sensor in the anatomical structure, and acquire a simulated path point cloud based on the plurality of actual path points; Acquire a model point cloud, wherein the model point cloud includes a plurality of skeleton points of a pipeline centerline and / or a plurality of vertices of a pipeline wall of the third anatomical model; The simulation path point cloud is registered with the model point cloud.

18. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and the computer program is configured to be loaded and executed by a processor to implement the steps of the method according to claim 17.

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