Head force sensing method, device, equipment and medium for slender medical device

Abstract

The present invention belongs to the field of vascular interventional surgical robots, and discloses a head force sensing method, device, equipment and medium for a slender medical device, wherein the method utilizes the first tail end axial comprehensive force value to calculate a reference force value, that is, dynamically sets the reference force value; because the reference force value is calculated based on the first tail end axial comprehensive force value, some forces in the reference force value are related to the first tail end axial comprehensive force value, and the related forces are basically the forces generated by factors such as the friction force of the device itself and the elastic force of the intermediate link. When calculating the difference between the first tail end axial comprehensive force value and the reference force value, these related forces can be removed, thereby obtaining a force (difference) with a relatively high proportion of the force on the head of the slender medical device, and multiplying the difference by a corresponding sensitivity coefficient to obtain a value reflecting the force condition of the head of the slender medical device, thereby achieving more accurate force perception of the head of the slender medical device and improving the danger warning capability during surgery.

Description

Technical Field

[0001] The present invention relates to the field of vascular interventional surgery robots, and in particular to a head force sensing method, device, equipment and medium for a slender medical device. Background Art

[0002] In actual clinical processes, accurately knowing the elastic collision force between slender medical devices and blood vessel walls can effectively improve the ability to warn of dangers.

[0003] There are currently two main methods for obtaining elastic collision force: one is based on images, and its basic technical route is to perform image segmentation - morphological detection - force state model - predicted force on vascular devices, specifically including directly using DSA (digital subtraction angiography) images, and after image registration, using vascular-device physical modeling for solution; the other is based on sensors, including but not limited to optical sensors and force sensors, and its main ideas are divided into two types, one is direct sensor perception, that is, the module in contact with the interventional device is directly designed to have force sensing function, and the other is indirect sensor perception, which realizes force sensing through an intermediate force transmission structure.

[0004] Image-based force sensing is still in the research stage, because it involves three-dimensional registration and mechanical model limitations, and cannot meet the progress of industrialization. Sensor-based force sensing is relatively mature, but direct sensing requires self-research of force sensors, such as using elastic bodies to push slender medical devices and using high-speed cameras for identification and calibration. However, due to the sterile box, the cost will increase, and it is difficult to control the consistency of batch production. Therefore, the current main solution is to use sensors for indirect measurement.

[0005] However, indirect measurement using sensors cannot achieve accurate head force perception of slender medical devices because the comprehensive axial force at the tail end of the device is affected by many factors, including the position within the blood vessel, the length of the device advancement, and the Young's modulus of the current slender medical device itself, all of which will interfere with the judgment of the force on the slender medical device. Summary of the invention

[0006] The present invention provides a method, device, equipment and medium for sensing the head force of a slender medical device, aiming to solve the technical problem that when using a sensor for indirect measurement, the head force of the slender medical device cannot be accurately sensed because the axial comprehensive force at the tail end of the slender medical device is affected by multiple factors.

[0007] In order to achieve the above-mentioned object of the invention, the first aspect of the present invention provides a head force sensing method of a slender medical device, comprising the steps of:

[0008] Obtaining a current first tail end axial comprehensive force value of the elongated medical device;

[0009] Calculating a reference force value according to the first tail end axial comprehensive force value;

[0010] Calculating the difference between the first tail end axial comprehensive force value and the reference force value;

[0011] The force value of the head of the slender medical device is calculated based on the difference.

[0012] Furthermore, the step of calculating the force value of the head of the slender medical device according to the difference includes:

[0013] Obtaining a force curve of the elongated medical device during delivery;

[0014] Calculating the slope of the first tail end axial comprehensive force value corresponding to the force curve;

[0015] Calculate a sensitivity coefficient based on the slope;

[0016] The difference is multiplied by the sensitivity coefficient to obtain the head force value of the slender medical device.

[0017] Furthermore, the step of calculating the sensitivity coefficient based on the slope includes:

[0018] The sensitivity coefficient is calculated based on a sensitivity coefficient formula;

[0019] The sensitivity coefficient formula is:

[0020] y=k*x+b;

[0021] Wherein, y is the sensitivity coefficient, k is the proportionality coefficient, x is the delivery speed of the slender medical device, and b is the slope of the axial comprehensive force value of the first tail end of the slender medical device on the force curve.

[0022] Furthermore, the step of calculating a reference force value according to the first tail end axial comprehensive force value comprises:

[0023] The first tail end axial comprehensive force value is updated to a moving average array of a first width, and the reference force value is calculated.

[0024] Furthermore, the method for obtaining the first width includes:

[0025] In the blood vessel model, obtaining a current axial comprehensive force value of the second tail end of the slender medical device;

[0026] Inputting the second tail end axial comprehensive force value into an array of a second width, and obtaining a model reference value through mean filtering;

[0027] The objective function is set as the variance between the second tail end axial comprehensive force value and the model reference value, the second width when the variance is minimum is obtained by solving, and the second width when the variance is minimum is used as the first width.

[0028] Furthermore, before the step of obtaining the current first tail end axial comprehensive force value of the elongated medical device, the step further includes:

[0029] determining a delivery mode of the elongated medical device;

[0030] Depending on the delivery mode, perform the corresponding operation.

[0031] Furthermore, the step of performing corresponding operations according to the delivery mode includes:

[0032] If the delivery mode is the speed mode, then executing the step of obtaining the current first tail end axial comprehensive force value of the elongated medical device;

[0033] If the delivery mode is the position mode, a slow speed sensitivity coefficient of the elongated medical device at the slowest speed in the speed mode is obtained, and a reference value is initialized when the operating lever is operated.

[0034] A second aspect of the present invention provides a head force sensing device for an elongated medical device, comprising:

[0035] An acquisition unit, used for acquiring a current first tail end axial comprehensive force value of the elongated medical device;

[0036] A first calculation unit, configured to calculate a reference force value according to the first tail end axial comprehensive force value;

[0037] A second calculation unit, used for calculating the difference between the first tail end axial comprehensive force value and the reference force value;

[0038] The third calculation unit is used to calculate the force value of the head of the slender medical device according to the difference.

[0039] A third aspect of the present invention provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the head force sensing method for a slender medical device as described in any one of the above are implemented.

[0040] A fourth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the steps of the head force sensing method for a slender medical device as described in any one of the above are implemented.

[0041] Beneficial effects:

[0042] The present invention provides a head force sensing method, device, equipment and medium for a slender medical device, wherein the method uses the first tail end axial comprehensive force value to calculate a reference force value, that is, dynamically set the reference force value; and because the reference force value is calculated based on the first tail end axial comprehensive force value, some forces in the reference force value are related to the first tail end axial comprehensive force value, and these related forces are basically the forces generated by factors such as the friction force of the device itself and the elastic force of the intermediate link. When calculating the difference between the first tail end axial comprehensive force value and the reference force value, these related forces can be removed, and then a force (difference) with a relatively high proportion of the force on the head of the slender medical device is obtained, and then the difference is multiplied by the corresponding sensitivity coefficient, so that a value reflecting the force situation of the head of the slender medical device can be obtained. Thereby achieving more accurate force perception of the head of the slender medical device and improving the danger warning capability. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 A schematic diagram of a flow chart of a head force sensing method for a slender medical device according to an embodiment of the invention;

[0044] Figure 2 This is a flow chart of step S4 in a method for sensing head force of a slender medical device according to an embodiment of the invention;

[0045] Figure 3 A schematic diagram of the structure of a head force sensing device of a slender medical device according to an embodiment of the invention;

[0046] Figure 4 The figure is a schematic diagram of the structure of a computer device according to an embodiment of the invention.

[0047] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0049] It will be understood by those skilled in the art that, unless expressly stated, the singular forms "a", "an", "above", and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present invention refers to the presence of features, integers, steps, operations, elements, modules, modules and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, modules, components and / or groups thereof. It should be understood that when we refer to an element as being "connected" or "coupled" to another element, it may be directly connected or coupled to the other element, or there may be an intermediate element. In addition, the "connection" or "coupling" used herein may include wireless connection or wireless coupling. The term "and / or" used herein includes all or any module and all combinations of one or more associated listed items.

[0050] Those skilled in the art will understand that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as those generally understood by those skilled in the art in the field to which the present invention belongs. It should also be understood that terms such as those defined in common dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless specifically defined as here.

[0051] Reference Figure 1 The embodiment of the present invention provides a head force sensing method for a slender medical device, comprising the steps of:

[0052] S1, obtaining the current first tail end axial comprehensive force value of the slender medical device;

[0053] S2. Calculate a reference force value according to the first tail end axial comprehensive force value;

[0054] S3, calculating the difference between the first tail end axial comprehensive force value and the reference force value;

[0055] S4. Calculate the force value of the head of the slender medical device according to the difference.

[0056] For step S1, the above-mentioned slender medical device refers to a device with a slender shape used in clinical interventional surgery, such as a catheter, a guidewire, etc., which is used for diagnosis or treatment operations in a blood vessel. The first tail end axial comprehensive force value refers to the magnitude of the comprehensive force in the axial direction on the tail end of the slender medical device, and the first tail end axial comprehensive force value is generated by the combined action of multiple factors, including the friction force of the blood vessel wall on the slender medical device, the resistance encountered by the slender medical device when advancing in the blood vessel, the position of the slender medical device in the blood vessel, the length of the slender medical device being advanced, and the Young's modulus of the slender medical device itself.

[0057] For step S2, the reference force value is a reference force value obtained by performing a specific calculation method on the first tail end axial comprehensive force value. The calculation process is intended to enable the force sensing system to better adapt to the force conditions of the slender medical device at different positions and operation stages in the blood vessel. For example, the collected force value data is processed by a moving average algorithm or the like to obtain a relatively stable reference value that can reflect the current actual force conditions.

[0058] For step S3, the above difference reflects the degree of deviation between the current actual force value and the reference benchmark force value, which is crucial for the subsequent accurate calculation of the head force value.

[0059] For step S4, the head force value is the magnitude of the force on the head of the slender medical device to be determined. By further calculating and processing the difference, combined with relevant coefficients and algorithms, a value that can accurately reflect the force on the head of the slender medical device is obtained.

[0060] What the force feedback system needs is the change value of force, not the absolute value of force. When a fixed reference value is used, as the tail end of the slender medical device goes deeper, its comprehensive resistance will continue to increase, and the change value of the head end force corresponding to the target force change range (about 0-50mN) is too small to the change range of the axial tail end comprehensive force from the sheath to the nerve and blood vessels (0-3N), so it is impossible to accurately obtain the force condition of the head of the slender medical device. In the present application, the reference force value is calculated using the first tail end axial comprehensive force value, that is, the dynamically set reference force value; and because the reference force value is calculated based on the first tail end axial comprehensive force value, some forces in the reference force value are related to the first tail end axial comprehensive force value, and these related forces are basically the forces generated by factors such as the friction of the device itself and the elastic force of the intermediate link. When calculating the difference between the first tail end axial comprehensive force value and the reference force value, these related forces can be removed, and then a force (difference) with a relatively high proportion of force on the head of a slender medical device is obtained, and then the difference is multiplied by the corresponding sensitivity coefficient, so that a value reflecting the force situation on the head of the slender medical device can be obtained. The above sensitivity coefficient can be a preset empirical value, or it can be calculated based on a specific preset function and then based on specific parameters.

[0061] In a specific embodiment, when performing an interventional surgery, what is needed is the change in force relative to the initial state, and the initial state of the pressure sensor of the force feedback system during installation corresponds to an initial force, such as 2N. The force feedback system will initially use this force as the zero point, and then when 2.5N is detected, the state relative to this zero point is a force of 0.5N. As the slender medical device goes deeper, the force detected at the tail end of the slender medical device will be continuously affected by factors such as the friction of the device itself and the elastic force of the intermediate link. In order to be able to perceive the force changes on the head of the slender medical device as much as possible, it is necessary to treat these factors as background noise, that is, to set a dynamic zero starting point. For example, the zero starting point is set to 2N at the beginning. When the slender medical device enters the interior and reaches the nerves and blood vessels, the intermediate process force storage detection is already 3.5N. Then, the 0.01N change force generated by the head when it contacts the blood vessel wall, the value detected by the force feedback system is 3.51N (equivalent to the above-mentioned first tail end axial comprehensive force value), of which the interference force of the background noise part basically occupies the whole. Therefore, it is necessary to set 3.5N (reference force value) as the zero starting point before detection, so that the force obtained is 0.01N, and then calculate and amplify it with the sensitivity coefficient to obtain the force value of the head of the slender medical device.

[0062] Reference Figure 2 In one embodiment, the step of calculating the head force value S4 of the elongated medical device according to the difference comprises:

[0063] S41, obtaining a force curve of the elongated medical device during delivery;

[0064] S42, calculating the slope of the first tail end axial comprehensive force value corresponding to the force curve;

[0065] S43, calculating a sensitivity coefficient based on the slope;

[0066] S44, multiplying the difference by the sensitivity coefficient to obtain a force value on the head of the slender medical device.

[0067] For step S41, the above-mentioned force curve refers to a curve showing the force of the slender medical device during delivery, which changes with time or operation progress. This curve can reflect the magnitude and changing trend of the force applied to the device at different stages. For example, when the device begins to enter the blood vessel, the force may be small, and as it gradually goes deeper into the blood vessel, the force may gradually increase. When encountering a blood vessel branch, a part with greater resistance of the blood vessel wall, or performing a specific operation (such as placing a stent), the force will change significantly, and these changes can be reflected in the force curve.

[0068] For step S42, the above slope refers to the tangent slope of the force curve at a certain point, which reflects the rate of change of force over time or during the operation. For the slope corresponding to the first tail end axial comprehensive force value on the force curve, it indicates the speed of force change in the operation stage corresponding to the force value. For example, if the slope is large, it means that the force changes faster in this stage, which may be because the device encounters greater resistance or enters a specific area of ​​the blood vessel.

[0069] For step S43, the sensitivity coefficient is a coefficient calculated based on the slope of the force curve, which is used to adjust the calculation of the head force value. The size of the sensitivity coefficient is related to the delivery speed of the device and the rate of change of force. When the delivery speed of the device is fast, the sensitivity coefficient is relatively small, because the change of force is relatively insensitive during high-speed delivery; when the rate of change of force is large, the sensitivity coefficient is large, because it is necessary to more sensitively reflect the change of force. For example, when the catheter is quickly advanced, even if the force changes to a certain extent, due to the fast speed, it may not be necessary to adjust the head force value overly sensitively, so the sensitivity coefficient is small; and when the catheter encounters a sudden change in resistance in the blood vessel, the rate of change of force is large, and the sensitivity coefficient needs to be large to accurately reflect the head force.

[0070] For step S44, the head force value is obtained by multiplying the difference by the sensitivity coefficient to obtain the final head force value. In this way, the calculation of the head force value can be adjusted more accurately according to the actual force situation and change rate, so that it is more in line with the actual force situation of the instrument head.

[0071] In this embodiment, the larger the slope is, the greater the force change rate of the slender medical device is, and thus the sensitivity coefficient should also be larger. Therefore, by calculating the sensitivity coefficient based on the slope, a relatively accurate sensitivity coefficient can be obtained, and the final head force value is also more accurate.

[0072] Furthermore, the step S43 of calculating the sensitivity coefficient based on the slope includes:

[0073] S431. Calculate the sensitivity coefficient based on a sensitivity coefficient formula, where the sensitivity coefficient formula is:

[0074] y=k*x+b;

[0075] Wherein, y is the sensitivity coefficient, k is the proportionality coefficient, x is the delivery speed of the slender medical device, and b is the slope of the axial comprehensive force value of the first tail end of the slender medical device on the force curve.

[0076] The above sensitivity coefficient formula: y=k*x+b is a mathematical formula for calculating the sensitivity coefficient. Among them, x represents the delivery speed of the slender medical device, which reflects the speed of the device's advancement in the blood vessel. k is the proportionality coefficient, which determines the degree of influence of the delivery speed on the sensitivity coefficient. b is the slope of the first tail end axial comprehensive force value on the force curve, which reflects the influence of the rate of change of force on the sensitivity coefficient.

[0077] The proportional coefficient k is a fixed value used to adjust the effect of delivery speed on the sensitivity coefficient. Different slender medical devices may have different proportional coefficients k, depending on factors such as the material, shape, and size of the device. For example, for a harder catheter, its proportional coefficient k may be relatively small because it is not very sensitive to changes in speed during advancement; while for a softer guidewire, its proportional coefficient k may be relatively large because it is more susceptible to changes in speed. The specific proportional coefficient k can be an empirical value, and different k can be set for different slender medical devices.

[0078] Slope b is the slope of the first tail end axial comprehensive force value on the force curve, reflecting the influence of the rate of change of force on the sensitivity coefficient. When the slope b is large, it means that the rate of change of force is large. At this time, the sensitivity coefficient will increase accordingly to more sensitively reflect the change of force. For example, when the catheter encounters greater resistance in the blood vessel, resulting in an increase in the rate of change of force, the slope b will increase, and then the sensitivity coefficient will also increase to accurately reflect the force situation on the head.

[0079] In this embodiment, the sensitivity coefficient is determined by first-order function fitting. Through the sensitivity coefficient formula, the sensitivity coefficient can be accurately calculated according to the delivery speed of the device and the rate of change of force, and then the head force value can be more accurately calculated. This method organically combines the two key factors of the delivery speed of the device and the rate of change of force. By reasonably setting the proportional coefficient k and the slope b, it can adapt to the force conditions of slender medical devices of different types and specifications in different operating environments.

[0080] In one embodiment, the step S2 of calculating the reference force value according to the first tail end axial comprehensive force value comprises:

[0081] S21, updating the first tail end axial comprehensive force value to a moving average array of a first width, and calculating to obtain the reference force value.

[0082] For step S21, the moving average array is a data structure for storing and processing the tail end axial comprehensive force value. It has a certain width (first width, the number of data stored in the array). In this array, the newly collected tail end axial comprehensive force values ​​will be stored in sequence, and the earliest stored tail end axial comprehensive force value will be removed in chronological order. In this way, an array containing the current first tail end axial comprehensive force value can always be obtained. By continuously updating the first tail end axial comprehensive force value to the moving average array, these force values ​​can be calculated by moving average, that is, the values ​​in the array are averaged to obtain the reference force value. Moving average calculation is a statistical method that can smooth data, reduce data fluctuations, and make the obtained reference force value more reflective of the current actual force situation. For example, when operating a slender medical device in a blood vessel, the tail end axial comprehensive force value may fluctuate due to factors such as slight vibrations of the device and irregularities of the blood vessel wall. By moving the mean array and calculating the reference force value, a relatively stable reference force value can be obtained, which is convenient for subsequent calculation of the difference and the head force value.

[0083] The method for obtaining the reference force value in this embodiment is to obtain the reference force value by updating the first tail end axial comprehensive force value into the moving average array and performing moving average calculation. This method utilizes the characteristics of the moving average array to continuously update and process the force value data to obtain a reference force value that better reflects the actual force situation, providing a reliable reference for the subsequent calculation of the head force value.

[0084] In this embodiment, the use of a moving mean array to calculate the reference force value has multiple advantages. First, it can effectively reduce the impact of data fluctuations on the reference force value. In clinical practice, when a slender medical device is operated in a blood vessel, its tail end axial comprehensive force value is often disturbed by multiple factors and fluctuates. By processing the moving mean array, a relatively stable reference force value can be obtained, which improves the accuracy of subsequent calculations. Secondly, this method can update the reference force value in real time, so that it can better adapt to the force conditions of the device at different positions and operation stages in the blood vessel. As the device advances in the blood vessel, the tail end axial comprehensive force value will change. By continuously updating the new force value to the moving mean array and calculating the reference force value, the reference force value can always be kept consistent with the actual force condition, thereby improving the accuracy and reliability of head force perception. In addition, the use of the moving mean array can also simplify the calculation process. Compared with other complex calculation methods, calculations using the moving mean array are relatively simple and clear, easy to implement in actual clinical applications, reducing calculation costs and calculation time, and improving calculation efficiency.

[0085] In one embodiment, the method for obtaining the first width comprises the steps of:

[0086] S100, in the blood vessel model, obtaining a current axial comprehensive force value of the second tail end of the slender medical device;

[0087] S200, inputting the second tail end axial comprehensive force value into an array of a second width, and obtaining a model reference value through mean filtering;

[0088] S300, setting the objective function as the variance between the second tail end axial comprehensive force value and the model reference value, solving to obtain the second width when the variance is minimum, and using the second width when the variance is minimum as the first width;

[0089] For the above step S100, the second tail end axial comprehensive force value is similar to the first tail end axial comprehensive force value, which refers to the tail end axial comprehensive force value of the slender medical device at a specific operation stage in the vascular model. This force value is collected in a specific experimental or simulation scenario and is used to further optimize the calculation of the reference force value. The above vascular model is a model for simulating the human vascular system, which can be a physical model or a computer simulation model. In this model, the operation of the slender medical device can be simulated to better study its force conditions.

[0090] For step S200, the array of the second width is a data structure for storing the second tail end axial comprehensive force value, which is similar to the moving mean array, but has a different width (the second width). By inputting the second tail end axial comprehensive force value into this array, it can be mean filtered to obtain a model reference value. Mean filtering is a data processing method that obtains a relatively smooth value, namely the model reference value, by averaging the data in the array. For example, for an array containing 5 data, the model reference value can be obtained by calculating the average value of these 5 data.

[0091] For step S300, the objective function is set as the variance between the second tail end axial comprehensive force value and the model reference value. By solving the second width when the variance is minimum, an optimal array width can be found so that the error between the model reference value after mean filtering and the original second tail end axial comprehensive force value is minimized. This optimal second width will be used as the first width for subsequent moving mean array calculations, thereby improving the reference force value.

[0092] Specifically: The mean filter formula is:

[0093]

[0094] in, is the output after filtering;

[0095] is the original collected input;

[0096] is the width of the filter, usually 2M+1, i.e. from iM to i+M;

[0097] M is the number of data points on one side of the filter window.

[0098] In this embodiment, by collecting the second tail end axial comprehensive force value in the vascular model and determining the optimal first width through a series of calculations, this method can further optimize the calculation of the reference force value. In actual clinical applications, different vascular environments and operation stages may have different effects on the force conditions of slender medical devices. Through this optimization method, the calculation of the reference force value can be more accurately adapted to various situations. In addition, this method can also improve calculation efficiency. That is, in addition to the actual interventional surgery, the data is collected and sorted through the model, and the optimal first width can be obtained through multiple model calculations, so that the array of the first width can be directly used in the actual interventional surgery, which reduces the calculation cost and also improves the response speed of the system, which is conducive to real-time application during the operation.

[0099] In one implementation, before the step S1 of obtaining the current first tail end axial comprehensive force value of the elongated medical device, the following step is also included:

[0100] S101, determining a delivery mode of the elongated medical device;

[0101] S102: Execute corresponding operations according to the delivery mode.

[0102] For step S101 and step S102, the delivery mode refers to the different modes of operation of the slender medical device in the blood vessel. Accurately judging the delivery mode is crucial for the head force perception of the slender medical device. First, it can make subsequent calculations more targeted. Under different delivery modes, the force conditions and change rules of the instrument are different. By accurately judging it as a speed mode, a calculation method specially designed for the speed mode can be used to obtain and process the force data, thereby more accurately calculating the head force value. Secondly, judging the delivery mode can improve the adaptability and flexibility of the entire system. In actual clinical applications, different surgical scenarios and instrument operations may require different delivery modes. By being able to accurately judge the delivery mode, the system can adopt corresponding calculation methods according to different modes, thereby better adapting to various clinical needs.

[0103] Here we mainly involve speed mode and position mode. Speed ​​mode refers to the device being pushed at a certain speed in the blood vessel, and its force condition is mainly related to the pushing speed. For example, in some vascular interventional surgeries, doctors may push the catheter at a relatively stable speed, and it is in speed mode at this time. Whether it is speed mode may depend on a variety of factors, such as the doctor's operating habits, the specific requirements of the surgery, and the characteristics of the device itself. For example, if the doctor directly selects the speed mode during the operation, a speed mode instruction will be generated, and then the speed mode instruction can be used to determine whether it is currently in speed mode. When it is determined to be speed mode, it is necessary to obtain the current axial comprehensive force value of the first tail end of the slender medical device. As mentioned above, this force value reflects the comprehensive force condition of the tail end of the device in the axial direction, and is one of the basic data for the subsequent calculation of the head force value. The position mode corresponds to the speed mode. The position mode refers to the position of the slender medical device in the blood vessel being precisely controlled by tools such as operating rods, and its force condition is mainly related to the change of position. For example, in some delicate vascular interventional surgeries, such as cerebral aneurysm embolization treatment, the doctor needs to precisely control the position of the device, and it is in position mode at this time. When it is determined that the delivery mode of the elongated medical device is not the speed mode, it is determined to be the position mode.

[0104] In one embodiment, the step S102 of performing corresponding operations according to the delivery mode includes:

[0105] S1021, if the delivery mode is the speed mode, executing the step of obtaining the current first tail end axial comprehensive force value of the slender medical device;

[0106] S1022: If the delivery mode is the position mode, obtain a slow speed sensitivity coefficient of the slender medical device at the slowest speed in the speed mode, and initialize a reference value when operating the operating lever.

[0107] For step S1021, if the delivery mode is the speed mode, the step of obtaining the current first tail end axial comprehensive force value of the slender medical device is performed, that is, the steps of the above embodiments are performed.

[0108] For step S1022, the slow sensitivity coefficient refers to the sensitivity coefficient of the slender medical device at the slowest speed in the speed mode. This coefficient plays an important role in the position mode. Because in the position mode, the activity range is limited and is already a small area, and the reference value only needs to be initialized when the operating lever is operated. Different slender medical devices may have different slow sensitivity coefficients, which depend on factors such as the material, shape, size and operating characteristics of the device in the blood vessel. For example, a softer guidewire may have a relatively large slow sensitivity coefficient because it is more susceptible to changes in small forces, while a harder catheter may have a relatively small slow sensitivity coefficient.

[0109] The above-mentioned initialization reference value is performed when the doctor operates the joystick of the vascular interventional surgery robot in the position mode. Specifically, after determining that the current delivery mode is the position mode, the third tail end axial comprehensive force value of the current slender medical device is obtained. When the doctor or others operate the joystick of the main end of the interventional surgery robot, the third tail end axial comprehensive force value is directly updated to the reference value. In the subsequent process, there is no need to continuously and dynamically adjust the reference value as in the speed mode. This reference value is a reference value for subsequent calculations of related operations such as the head force value. In this embodiment, a processing method is disclosed when the delivery mode is not the speed mode. First, it is determined to be a position mode, and then the slow sensitivity coefficient in the speed mode is obtained, and the reference value is initialized when the joystick is operated. Because the position mode activity range is limited and is already a small area, it is only necessary to initialize the reference value when operating the joystick. There is no need to dynamically adjust the reference value as in the speed mode, thereby reducing computing consumption.

[0110] In a specific implementation, when performing an interventional procedure, the process of the head force sensing method of the slender medical device is as follows:

[0111] Turning on the force feedback system and activating the movement of the elongated medical device via the operating lever;

[0112] Determine whether the delivery mode of the elongated medical device is a speed mode; suppose that in a certain vascular interventional surgery, the doctor decides to push the catheter at a relatively stable speed according to the surgical requirements and operating habits. At this time, it is determined to be a speed mode, and the operation is as follows:

[0113] The current first tail end axial comprehensive force value of the slender medical device is obtained; for example, during the advancement of the catheter in the blood vessel, the axial comprehensive force value received by the tail end of the catheter at the current moment is obtained to be 1.5N through the pressure sensor and other equipment installed at the tail end (this value includes the force caused by various factors such as the friction of the blood vessel wall on the catheter and the advancement resistance of the catheter itself).

[0114] According to the first tail end axial comprehensive force value, the reference force value is calculated; specifically, the first tail end axial comprehensive force value is updated to the moving average array. Assuming that the width of the moving average array is 4, the existing 4 historical force values ​​are 1.2N, 1.3N, 1.4N, and 1.45N, respectively, the currently acquired 1.5N is stored in the array, and the earliest stored 1.2N is removed.

[0115] The reference force value is obtained by moving average calculation, that is, the calculation method is (1.3N + 1.4N + 1.45N +1.5N) / 4 = 1.4125N.

[0116] The difference between the first tail end axial comprehensive force value and the reference force value is calculated. Specifically, the difference is 1.5N -1.4125N = 0.0875N.

[0117] According to the difference, the force value of the head of the slender medical device is calculated, specifically:

[0118] Obtaining the force curve of the elongated medical device during delivery. By recording the force values ​​at different stages of the catheter advancement process, a force curve is drawn, for example, the force value has an obvious upward trend at the point where the catheter enters the blood vessel branch, and the force value is relatively stable in the smoother part of the blood vessel;

[0119] Calculate the slope of the first tail end axial comprehensive force value on the force curve. Assume that at the current position, the slope calculated according to the force curve is 0.2 (indicating that the force value changes relatively quickly at this position);

[0120] The sensitivity coefficient is calculated based on the slope, specifically, the sensitivity coefficient is calculated based on the sensitivity coefficient formula y = k*x + b. Assuming that the proportionality coefficient k is 0.5 (determined according to the material, shape and other characteristics of the catheter), x is the current delivery speed of the catheter (assuming a moderate speed, corresponding to a value, which is set to 3 here), b is the slope 0.2 calculated above, then the sensitivity coefficient y = 0.5×3 + 0.2 = 1.7.

[0121] The difference is multiplied by the sensitivity coefficient to obtain the head force value of the slender medical device. The head force value is 0.0875N×1.7=0.14875N.

[0122] Further, if it is determined that the current delivery mode is not the speed mode, it is determined to be the location mode, and the operation is as follows:

[0123] The delivery mode is determined to be the position mode. For example, in embolization treatment of cerebral aneurysms, doctors need to precisely control the position of the device, so it is determined to be the position mode.

[0124] A slow speed sensitivity coefficient of the slender medical device at the slowest speed in the speed mode is obtained, and a reference value is initialized when the operating lever is operated.

[0125] Then, the first tail end axial comprehensive force value obtained by the force feedback system is subtracted from the reference value initialized when the operating rod is operated to obtain a difference, and then the difference is directly multiplied by the slow sensitivity coefficient to obtain a value reflecting the force condition of the head of the slender medical device.

[0126] Reference Figure 3 The embodiment of the present invention further provides a head force sensing device for a slender medical device, comprising:

[0127] An acquisition unit 10 is used to acquire a current first tail end axial comprehensive force value of the elongated medical device;

[0128] A first calculation unit 20, configured to calculate a reference force value according to the first tail end axial comprehensive force value;

[0129] A second calculation unit 30, used for calculating the difference between the first tail end axial comprehensive force value and the reference force value;

[0130] The third calculation unit 40 is used to calculate the force value of the head of the slender medical device according to the difference.

[0131] The head force sensing device of the above-mentioned slender medical device is a virtual device corresponding to the head force sensing method of the above-mentioned slender medical device, and will not be elaborated one by one here.

[0132] Reference Figure 4 The embodiment of the present invention further provides a computer device, the internal structure of which can be as follows Figure 4 As shown. The computer device includes a processor, a memory, a network interface and a database connected via a system bus. Among them, the processor designed for the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating device, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data related to the present application, etc. The network interface of the computer device is used to communicate with an external terminal through a network connection. Furthermore, the above-mentioned computer device can also be provided with an input device and a display screen, etc. When the above-mentioned computer program is executed by the processor to implement a head force sensing method for a slender medical device, the method includes the following steps:

[0133] Obtaining a current first tail end axial comprehensive force value of the elongated medical device;

[0134] Calculating a reference force value according to the first tail end axial comprehensive force value;

[0135] Calculating the difference between the first tail end axial comprehensive force value and the reference force value;

[0136] The force value of the head of the slender medical device is calculated based on the difference.

[0137] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, a method for sensing head force of a slender medical device comprises the following steps:

[0138] Obtaining a current first tail end axial comprehensive force value of the elongated medical device;

[0139] Calculating a reference force value according to the first tail end axial comprehensive force value;

[0140] Calculating the difference between the first tail end axial comprehensive force value and the reference force value;

[0141] The force value of the head of the slender medical device is calculated based on the difference.

[0142] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media provided in this application and used in the embodiments may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0143] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, device, article or method including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, device, article or method. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the presence of other identical elements in the process, device, article or method including the element.

[0144] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A head force sensing device for a slender medical device, characterized in that: include: An acquisition unit, used for acquiring a current first tail end axial comprehensive force value of the elongated medical device; A first calculation unit, configured to calculate a reference force value according to the first tail end axial comprehensive force value; A second calculation unit, used for calculating the difference between the first tail end axial comprehensive force value and the reference force value; The third calculation unit is used to multiply the difference by a sensitivity coefficient to obtain a head force value of the slender medical device, wherein the sensitivity coefficient is related to a delivery speed and a rate of change of force of the slender medical device.

2. The head force sensing device of the slender medical device according to claim 1, characterized in that: The acquisition of the sensitivity coefficient includes: Obtaining a force curve of the elongated medical device during delivery; Calculating the slope of the first tail end axial comprehensive force value corresponding to the force curve; A sensitivity coefficient is calculated based on the slope.

3. The head force sensing device of the slender medical device according to claim 2, characterized in that: The step of calculating the sensitivity coefficient based on the slope includes: The sensitivity coefficient is calculated based on a sensitivity coefficient formula; The sensitivity coefficient formula is: y=k*x+b; Wherein, y is the sensitivity coefficient, k is the proportionality coefficient, x is the delivery speed of the slender medical device, and b is the slope of the axial comprehensive force value of the first tail end of the slender medical device on the force curve.

4. The head force sensing device of the slender medical device according to claim 1, characterized in that: The step of calculating the reference force value according to the first tail end axial comprehensive force value comprises: The first tail end axial comprehensive force value is updated to a moving average array of a first width, and the reference force value is calculated.

5. The head force sensing device of the slender medical device according to claim 4, characterized in that: The obtaining of the first width includes: In the blood vessel model, obtaining a current axial comprehensive force value of the second tail end of the slender medical device; Inputting the second tail end axial comprehensive force value into an array of a second width, and obtaining a model reference value through mean filtering; The objective function is set as the variance between the second tail end axial comprehensive force value and the model reference value, the second width when the variance is minimum is obtained by solving, and the second width when the variance is minimum is used as the first width.

6. The head force sensing device of the slender medical device according to any one of claims 1 to 5, characterized in that: Before obtaining the current first tail end axial comprehensive force value of the elongated medical device, the method further includes: determining a delivery mode of the elongated medical device; According to the delivery mode, corresponding operations are performed.

7. The head force sensing device of the slender medical device according to claim 6, characterized in that: The performing corresponding operations according to the delivery mode includes: If the delivery mode is the speed mode, the step of obtaining the current first tail end axial comprehensive force value of the elongated medical device is executed; If the delivery mode is the position mode, the slow speed sensitivity coefficient of the elongated medical device in the speed mode at the slowest speed is obtained, and a reference value is initialized when the operating lever is operated.

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