Pressure calibration method and device for driving unit

Abstract

The invention relates to the technical field of interventional robots, and discloses a pressure calibration method and device for driving units, and the method comprises the steps: calculating a gravity value corresponding to each driving unit when the driving units in the interventional robot incline; calculating an actual tension value according to the gravity value and a tension detection value corresponding to the driving unit; and on the basis of the actual tension value, the tension detection value corresponding to each driving unit is updated. According to the invention, the influence of the gravity generated by the intervention robot under the inclination condition on the measured value of the pressure sensor can be effectively compensated, so that the measured value of the pressure sensor is more accurate at different inclination angles, false detection caused by gravity change is avoided, and the precision of tension measurement is improved.

Description

Technical Field

[0001] The present application relates to the technical field of interventional robots, and in particular to a pressure calibration method and device for a drive unit. Background Art

[0002] In the field of medical robots, especially pan-vascular interventional robots, precise control of the robotic arm and precise operation of the catheter and guidewire are crucial. Existing pan-vascular interventional robot products are usually equipped with multiple drive units, each of which is equipped with a pressure sensor to detect the straightening force of the catheter and guidewire. However, when the robotic arm is moved, the inclination angle of the drive unit will change. Different inclination angles will cause gravity to have different effects on the pressure sensor, thereby causing false detection of the catheter straightening force. This false detection may cause the doctor to be unable to accurately judge the state of the catheter, thereby affecting the accuracy and safety of the surgical operation. In particular, when the drive unit is adjusted from a horizontal state to a large angle between the drive unit and the horizontal plane (for example, about 45 degrees), the pressure value of the pressure sensor will increase. This increased pressure value is usually greater than 1N, so the impact is that the pressure value detected by the pressure sensor is always above the threshold, resulting in the catheter being unable to be detected even if it is bent. In addition, other external forces (such as manual intervention by the operator) will also interfere with the measured value of the pressure sensor, further reducing the accuracy of the measurement. The measurement accuracy of existing pressure sensors at different tilt angles is inconsistent, especially when the tilt angle is large, the measurement error will increase significantly, which limits the application of robots in complex surgical environments.

[0003] Therefore, the problem that the pressure sensor of the driving unit of the existing interventional robot is easily affected by the movement of the robot arm and thus causes measurement errors needs to be solved urgently. Summary of the invention

[0004] The main purpose of the present application is to provide a pressure calibration method and device for a driving unit, aiming to address the technical problem that the pressure sensor of the driving unit of a robot is easily affected by the movement of a robotic arm, thereby causing measurement errors.

[0005] The first aspect of the present application provides a pressure calibration method for a drive unit, which is applied to an interventional robot, comprising:

[0006] When the driving units in the interventional robot are tilted, calculating the gravity value corresponding to each driving unit;

[0007] Calculating an actual tension value according to the gravity value and a tension detection value corresponding to the drive unit;

[0008] The tension detection value corresponding to each of the driving units is updated based on the actual tension value.

[0009] Furthermore, when the driving units in the interventional robot are tilted, the step of calculating the gravity value corresponding to each driving unit includes:

[0010] When it is identified that the driving units in the interventional robot are tilted, identifying a change value of the tension detection value corresponding to each driving unit;

[0011] Determine whether each of the change values ​​is valid;

[0012] If the change values ​​are all valid change values, then each change value is the gravity value corresponding to each driving unit;

[0013] If there are invalid change values ​​among the change values, the valid change values ​​are screened out to calculate the effective detection average value; and the driving unit gravity value corresponding to the invalid change value is calculated according to the effective detection average value.

[0014] Furthermore, when the driving units in the interventional robot are tilted, before the step of calculating the gravity values ​​corresponding to the driving units, the method further comprises:

[0015] Acquiring mechanical arm adjustment information of the interventional robot;

[0016] Based on the robot arm adjustment information, it is determined whether the driving unit in the interventional robot is tilted.

[0017] Furthermore, the step of determining whether each of the change values ​​is valid includes:

[0018] Calculate an average value of mass changes based on the change values, wherein the mass change is a change of the change value of each driving unit relative to a unit mass;

[0019] Calculating an error value between the mass change and an average value of the mass change;

[0020] If the error value exceeds the preset error threshold, the corresponding change value is the invalid change value;

[0021] If the error value does not exceed the preset error threshold, the corresponding change value is the effective change value.

[0022] Furthermore, the step of calculating the driving unit gravity value corresponding to the invalid change value according to the effective detection average value includes:

[0023] The driving unit gravity value is the product of the effective detection average value and the mass of the driving unit.

[0024] Furthermore, the step of calculating the gravity value corresponding to each of the driving units further includes:

[0025] Calculating the tilt angle of the drive unit based on acceleration data of the accelerometer;

[0026] or obtaining the tilt angle of the driving unit by setting a gyroscope;

[0027] The corresponding gravity value of each of the driving units is calculated based on the tilt angle.

[0028] Furthermore, the step of calculating the actual tension value according to the gravity value and the tension detection value corresponding to the driving unit includes:

[0029] Based on F c =F s -F g , calculate the actual pulling force value F c Among them, F s F is the tensile force detection value; g is the gravity value.

[0030] A second aspect of the present application provides a pressure calibration device for a drive unit, which is applied to an interventional robot, comprising:

[0031] A driving unit, the driving unit is used to control the elongated medical device to move in a preset direction;

[0032] A slide, the slide is connected to the driving unit and is used to support the movement of the driving unit in a preset direction;

[0033] A pressure sensor is disposed between the slide and the drive unit and is used to monitor a tension detection value.

[0034] Furthermore, an accelerometer or a gyroscope is provided on the mechanical arm of the interventional robot or the driving unit, so as to calculate the tilt angle generated by the mechanical arm or the driving unit.

[0035] Furthermore, the pressure calibration device of the driving unit is used to execute any one of the methods described above.

[0036] Beneficial effects:

[0037] This application can effectively compensate for the influence of gravity generated by the tilt of each driving unit of the interventional robot on the measured value of the pressure sensor by calculating the gravity value of the driving unit of the interventional robot in real time when the driving unit is tilted. This makes the measured value of the pressure sensor more accurate at different tilt angles, avoids false detection caused by gravity changes, and improves the accuracy of tension measurement. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is a schematic diagram of the steps of a pressure calibration method for a drive unit according to an embodiment of the present application;

[0039] Figure 2 It is a schematic structural diagram of a pressure calibration device of a driving unit according to an embodiment of the present application, which includes a guide wire and two catheters;

[0040] Figure 3 It is a schematic structural diagram of a pressure calibration device of a driving unit according to an embodiment of the present application, which includes a guide wire and a catheter;

[0041] Figure 4 It is a schematic diagram of the structure of a computer device according to an embodiment of the present application.

[0042] Among them, 11, first catheter; 12, second catheter; 20, delivery drive module; 21, first drive unit; 22, second drive unit; 23, third drive unit; 3, first guide wire; 41, first pressure sensor; 42, second pressure sensor; 43, third pressure sensor; 51, delivery drive motor; 52, first delivery motor; 53, second delivery motor; 54, third delivery motor; 6, slide;

[0043] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0044] 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.

[0045] It will be appreciated by those skilled in the art that, unless expressly stated, the singular forms "one", "above", and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present application refers to the presence of features, integers, steps, operations, elements, modules, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, modules, components, and / or groups thereof. It should be understood that when an element is said to be "connected" or "coupled" to another element, it may be directly connected or coupled to the other element, or there may also be an intermediate element. In addition, the "connection" or "coupling" used herein may include wireless connection or wireless coupling. The term "and / or" used herein includes all or any module and all combinations of one or more associated listed items.

[0046] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as those generally understood by those skilled in the art to which this application belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with those in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless specifically defined as here.

[0047] Reference Figure 1 , an embodiment of the present application provides a pressure calibration method for a driving unit, comprising:

[0048] S1. When a driving unit in the interventional robot tilts, calculating a gravity value corresponding to each driving unit;

[0049] S2. Calculating an actual tension value according to the gravity value and a tension detection value corresponding to the driving unit;

[0050] S3. Update the tension detection value corresponding to each of the driving units based on the actual tension value.

[0051] In this embodiment, the slave end of the interventional robot includes a plurality of drive units, for example, Figure 2-Figure 3 The first drive unit 21, the second drive unit 22 and the third drive unit 23 in the apparatus are used to deliver the slender medical device. The drive unit is connected to the slide 6. The slide 6 can support the sliding connection of the drive unit so that the drive unit can move as a whole. At the same time, the drive unit can also drive the clamped slender medical device to move in a preset direction through its own drive structure. The specific installation structure can be set according to the type of slender medical device and the matching in actual application. The pressure sensor is set between the drive unit and the slide 6, and the direction of its force detection is consistent with the delivery direction of the slender medical device, that is, the pressure value detected by the pressure sensor is actually the tension value generated by the slender medical device during the delivery process.

[0052] For a single pressure sensor, the measured pressure value Fs satisfies the following formula: Among them, F cn (n=1,2...) is the pulling force of all slender medical devices installed on the drive unit on the drive unit, F em (m=1,2...) is the force other than the tension generated by the slender medical device; em (m=1,2...), one of the forces F is known e1 =F g (F g is the gravity of the drive unit), and F g Satisfies the following formula: Fg =mgcosθ, where m is the mass of the drive unit and all components on the drive unit, g is the acceleration of gravity, and θ is the angle between the slide 6 and the horizontal plane. This embodiment calculates the corresponding gravity generated by the adjustment of the robot arm, and thus calculates the actual pulling force value based on the detection value of the pressure sensor.

[0053] The gravity value can be calculated by installing an accelerometer on the robot arm or the drive unit to calculate the corresponding adjustment angle of the robot arm; in addition, a gyroscope can be installed on the robot arm or the drive unit to obtain the moving angle of the robot arm in real time during its movement, and then the angle of the robot arm can be calculated based on the formula F g = mgcosθ to calculate the corresponding gravity value;

[0054] In addition, there is no need to install additional detection devices. The gravity value can be calculated directly through the pressure detection value, and the change value that meets the reasonable change range can be screened out. The average value of the mass change is calculated based on this type of change value, that is, the detection average value, where the mass change is the change value of each drive unit relative to the unit mass; finally, the final gravity value is calculated based on the effective change value and the detection average value, that is, Among them, △F gk is the gravity value corresponding to the drive unit numbered k; △F sk is the change value corresponding to the driving unit numbered k; F s avgf is the detection average, m k is the mass corresponding to the drive unit numbered k; k is the drive unit number (in this application, it is assumed to be the drive unit with a matching pressure sensor). As long as the structural strength of the slide 6 is sufficient, k can be infinite. If the tension detection value corresponding to the current drive unit is a valid detection value, the corresponding gravity value is △F sk， That is, the effective detection value itself; if the tension detection value corresponding to the current drive unit is an invalid detection value, the gravity value of the current drive unit is the detection average value * the mass of the current drive unit.

[0055] After obtaining the corresponding gravity value, the corresponding actual pulling force value can be deduced according to formula 1 as F s -F g , that is, the tension detection value minus the calculated gravity value is subtracted to obtain the actual tension value of the current drive unit, and the tension detection value of the pressure sensor corresponding to the current drive unit is updated according to the actual tension value, so as to complete the compensation of the actual measurement value based on gravity after the adjustment of the robot arm and reduce the error influence on the pressure sensor.

[0056] Furthermore, when the driving units in the interventional robot are tilted, before the step of calculating the gravity values ​​corresponding to the driving units, the method further comprises:

[0057] S01, obtaining adjustment information of the mechanical arm of the interventional robot;

[0058] S02. Determine whether the driving unit in the interventional robot is tilted based on the robot arm adjustment information.

[0059] For example, when the interventional robot is operating, the movement of the robotic arm will cause the tilt angle of the drive unit to change. Therefore, it is necessary to first obtain the adjustment information of the robotic arm. Specifically, when the robotic arm starts to adjust, the system will receive an adjustment start instruction, and when the robotic arm adjustment is completed, the system will receive an adjustment end instruction. These adjustment instructions trigger corresponding events to record the status before and after the adjustment. When the adjustment event is over, it is necessary to calculate the impact of the robotic arm's adjustment action on the pressure sensor of the drive unit.

[0060] In this embodiment, whether the driving unit in the interventional robot is tilted can be determined based on the adjustment instructions of the robotic arm; or whether the tilt occurs can be determined based on whether the detection device recognizes a change in angle, wherein the detection device can be an accelerometer or a gyroscope, or other infrared detection device that can identify non-horizontal movement of the robotic arm or the driving unit, and no further limitation is made here.

[0061] In one embodiment, when the driving units in the interventional robot are tilted, the step of calculating the gravity value corresponding to each driving unit includes:

[0062] S10, when it is identified that the driving units in the interventional robot are tilted, identifying a change value of the tension detection value corresponding to each driving unit;

[0063] S11, judging whether each of the change values ​​is valid;

[0064] S12, if the change values ​​are all valid change values, then each change value is the gravity value corresponding to each driving unit;

[0065] S13. If there are invalid change values ​​among the change values, screen out the valid change values ​​to calculate the effective detection average value; and calculate the driving unit gravity value corresponding to the invalid change value according to the effective detection average value.

[0066] In this embodiment, when a tilt event is triggered, the initial measurement value F of the pressure sensor of each drive unit is recorded. sk start; At the end of the tilt event, record the final measurement value F of the pressure sensor of each drive unit sk stop; then based on ΔF sk＝ F sk stop-Fsk start, get the pressure change value ΔF of each drive unit sk ; For example, when the interventional robot is operating, the movement of the robotic arm will cause the tilt angle of the drive unit to change. Therefore, it is necessary to first obtain the adjustment information of the robotic arm. Specifically, when the robotic arm starts to adjust, the system will receive an adjustment start instruction, and when the robotic arm adjustment is completed, the system will receive an adjustment end instruction. These adjustment instructions trigger corresponding events, which are used to record the status before and after the adjustment. That is, when the adjustment instruction of the robotic arm is recognized, it is considered that the drive unit of the interventional robot is tilted; or when the corresponding detection device installed on the drive unit detects that the current angle of the drive unit has a tilt change, it is determined that the drive unit is tilted.

[0067] After calculating the pressure change value of each drive unit, first check whether there is an invalid change value. If there is no invalid change value, all current change values ​​are considered to be the corresponding gravity values. If an invalid change value is identified, it is necessary to screen out valid change values ​​from the current change values, and calculate the effective detection average value based on the valid change values. The effective detection average value is the average value of the mass change of the drive unit corresponding to the valid change value.

[0068] In this embodiment, when there are invalid change values ​​in each driving unit, the gravity value of the driving unit corresponding to the invalid change value is calculated based on the effective detection average value, including retaining the gravity value of the driving unit corresponding to the valid change value, and using the effective detection average value to calculate the gravity value of the driving unit corresponding to the invalid change value; in addition, in another embodiment, the effective detection average value can be used to calculate the gravity value of each driving unit.

[0069] By screening the effective change values, data affected by external interference or abnormal factors can be excluded. These external interferences may include manual intervention by operators, mechanical failures, or other unexpected forces. Through data redundancy processing of multiple drive units, the impact of single sensor failures or abnormal data on the overall calculation results can be reduced, and the robustness of the system can be enhanced. By calculating the gravity value based on the effective change value or the effective detection average value, the impact of gravity on the pressure sensor measurement value during the adjustment of the robot arm can be more accurately compensated, and the accuracy of tension detection can be improved.

[0070] In one embodiment, the step of determining whether each of the change values ​​is valid includes:

[0071] S20, calculating an average value of mass changes based on the change values, wherein the mass change is a change of the change value of each driving unit relative to a unit mass;

[0072] S21, calculating the error value between the mass change and the average value of the mass change;

[0073] S22. If the error value exceeds a preset error threshold, the corresponding change value is an invalid change value.

[0074] S23. If the error value does not exceed the preset error threshold, the corresponding change value is a valid change value.

[0075] In this embodiment, the average value of the mass change is calculated based on the change value, and the calculation formula is as follows:

[0076] where F s avg is the average value of mass change; k is the drive unit number; m k is the mass of the drive unit; △F sk is the change value of the driving unit; N is the number of driving units;

[0077] Then, the error value between the mass change and the average mass change is calculated using the following formula: Among them, F sk error is the error value; if the error value exceeds the preset error threshold, the corresponding change value is an invalid change value; if the error value does not exceed the preset error threshold, the corresponding change value is a valid change value.

[0078] Specifically, first, obtain the change value ΔF of the pressure detection value of each drive unit during the adjustment process of the robot arm sk , for each drive unit, calculate its mass change Where m k is the mass of the kth drive unit. Based on the mass changes of all drive units, the average mass change is calculated, F s avg, the formula is Where N is the total number of drive units (drive units with pressure sensors). By calculating the mass change, the change values ​​of drive units with different masses are normalized so that the change values ​​of different drive units are comparable. By calculating the average value, the impact of abnormal data of individual drive units on the overall calculation results can be reduced, and the reliability of the data can be improved.

[0079] For each drive unit, calculate the error value F of its mass change relative to the average value sk error, the formula is: The calculation of the error value helps to identify drive units that are affected by external interference or abnormal factors, thereby eliminating the influence of these data on the final calculation results.

[0080] Set a preset error threshold Perrlimit. For each drive unit, if its error value F sk error exceeds the preset error threshold Perrlimit, then the corresponding change value ΔF of the drive unit sk Marked as invalid change values, by excluding abnormal data, the robustness of the system can be enhanced so that it can still maintain good performance when facing complex working conditions.

[0081] For each drive unit, if its error value F sk error does not exceed the preset error threshold Perrlimit, then the corresponding change value ΔF of the drive unit sk By calculating the gravity value based on the effective change value or the effective detection average value, the influence of gravity on the pressure sensor measurement value during the adjustment of the robot arm can be more accurately compensated, thereby improving the accuracy of tension detection.

[0082] In one embodiment, the step of calculating the effective detection average value based on the effective change value includes:

[0083] S30. Calculate the effective detection average value based on the following formula: Among them, F s avgf is the effective detection average value; v is the drive unit number corresponding to the effective change value; m is the total number of drive units corresponding to the effective change value; △F sv is the effective change value; m v is the mass of the drive unit corresponding to the effective change value.

[0084] In this embodiment, effective change values ​​are screened out from the change values ​​of all driving units. Effective change values ​​refer to those error values ​​F sk error does not exceed the preset error threshold Perrlimit. For each drive unit corresponding to the valid change value, calculate its mass change Where m v is the mass of the drive unit corresponding to the vth effective change value. sv is the effective change value (or the change value of the driving unit corresponding to the effective change value); the effective detection average value is calculated based on the following formula: m is the total number of drive units corresponding to the valid change value. Using multiple valid change values ​​to calculate the average value can reduce the impact of a single sensor failure or abnormal data on the overall calculation result and enhance the stability of the system.

[0085] In one embodiment, the step of calculating the driving unit gravity value corresponding to the invalid change value according to the effective detection average value includes:

[0086] S40: The gravity value corresponding to the current driving unit is the product of the corresponding effective detection average value and the current mass of the driving unit.

[0087] In this embodiment, the final gravity value is calculated based on the effective change value and the effective detection average value, that is, Among them, △F gk is the gravity value corresponding to the drive unit numbered k; △F sk is the change value corresponding to the driving unit numbered k; F s avgf is the effective detection average value, m k is the mass corresponding to the drive unit numbered k; where k is the drive unit number (in this application, the default is the drive unit with a matching pressure sensor), refer to Figure 2-Figure 3 As long as the structural strength of the slide 6 is sufficient, k can be infinite. If the tension detection value corresponding to the current drive unit is a valid detection value, that is, the error value F sk error≤error threshold Perrlimit, then the corresponding gravity value is △F sk， That is, the effective detection value △F sk itself; if the tension detection value corresponding to the current drive unit is an invalid detection value, that is, the error value F sk error>error threshold Perrlimit, then the gravity value of the current drive unit is the effective detection average value * the mass of the current drive unit (F s avgf*m k ).

[0088] In one embodiment, the step of calculating the gravity value corresponding to each driving unit in the interventional robot includes:

[0089] S50, calculating the tilt angle of the driving unit based on the acceleration data of the accelerometer;

[0090] S51, or obtaining the tilt angle of the driving unit by setting a gyroscope;

[0091] S52: Calculate a corresponding gravity value of each of the driving units based on the tilt angle.

[0092] In this embodiment, an accelerometer is installed on the mechanical arm or the drive unit, and the acceleration data of the accelerometer is collected during the adjustment of the mechanical arm. According to the acceleration data, the tilt angle θ of the mechanical arm during the adjustment process is calculated. Generally, the accelerometer can provide acceleration data of three axes, and the tilt angle can be calculated based on these data. For example, assuming that the acceleration of the accelerometer on the z-axis is a z , then the inclination angle θ can be calculated by the following formula: Here, g is the acceleration due to gravity (acceleration).

[0093] Or install a gyroscope on the robot arm or drive unit. During the robot arm adjustment process, collect the angular velocity data of the gyroscope, and calculate the tilt angle θ of the robot arm during the adjustment process based on the angular velocity data. The gyroscope can provide angular velocity data, and the tilt angle can be obtained by integrating this data. For example, assuming that the angular velocity of the gyroscope on the z-axis is w z , then the tilt angle θ can be calculated by the following formula: θ = ∫w z dt, the gyroscope can provide high-precision angular velocity data, thereby ensuring that the calculated tilt angle has high accuracy. The gyroscope is less sensitive to environmental interference and can provide stable measurement results in complex environments.

[0094] The tilt angle θ of the robot arm during the adjustment process is obtained through the above step S50 or S51. Then, based on the calculated tilt angle, gravity acceleration and the instruction of the drive unit, the gravity value corresponding to each drive unit is calculated. For each drive unit, according to its mass m and tilt angle θ, its gravity value F is calculated. g , the formula is: F g = mgcosθ; where g is the acceleration due to gravity, and the gravity value F is calculated g , can accurately compensate for the influence of gravity on the pressure sensor measurement value during the adjustment of the robot arm, and improve the accuracy of tension detection. Through the high-precision data of the accelerometer or gyroscope, the calculated tilt angle is ensured to have a high accuracy, thereby improving the accuracy of gravity value calculation.

[0095] In one embodiment, the step of calculating the actual tension value according to the gravity value and the tension detection value corresponding to the driving unit includes:

[0096] S60, based on F c =F s -F g , calculate the actual pulling force F c ; Among them, F s F is the tensile force test value; g is the gravity value.

[0097] In this embodiment, the tension detection value F of each driving unit is obtained from the pressure sensor. s , and calculate the gravity value F of each drive unit g , for each drive unit, based on the formula F c =F s -F g Calculate the actual pulling force F c By detecting the value F from the tension s Subtract the gravity value F from g, can accurately compensate for the influence of gravity on the pressure sensor measurement during the adjustment of the robot arm, and improve the accuracy of tension detection. Through accurate calculation of tension values, the overall performance of the system can be improved, ensuring accurate measurement results in different scenarios, and providing strong support for the precise operation of the interventional robot.

[0098] In one embodiment, after the step of updating the tension detection value corresponding to each of the driving units based on the actual tension value, the following steps are included:

[0099] S70, determining whether the updated tension detection value is greater than a preset value;

[0100] S71. Based on the judgment result, control the delivery of the slender medical device.

[0101] In this embodiment, the purpose is to ensure the safety and accuracy of the operation by real-time monitoring and updating the tension detection value. After calculating the actual tension value Fc, the value is updated to the tension detection value corresponding to the drive unit. According to actual needs and safety standards, a preset value Flimit, such as 1N, is set to determine whether the tension detection value exceeds the safety range and whether the updated tension detection value Fc is greater than the preset value Flimit. Setting the preset value can ensure the safety of the operation and avoid the operational risks or damage to the equipment caused by excessive tension during the operation. If the updated tension detection value Fc is less than or equal to the preset value Flimit, the slender medical device (such as a catheter and a guidewire) continues to be delivered normally. If the updated tension detection value Fc is greater than the preset value, the control system will issue an alarm and suspend or stop the delivery of the slender medical device to prevent potential risks. After suspending or stopping delivery, the system can take corresponding corrective measures according to the actual situation, such as adjusting the angle of the mechanical arm, recalibrating the sensor, etc., to ensure the safety of subsequent operations. Through the automated control mechanism, the process can be optimized, the operator's workload can be reduced, efficiency can be improved, and operational risks can be reduced.

[0102] In one embodiment, the step of controlling the delivery of the elongated medical device based on the determination result comprises:

[0103] S80, if the judgment result is that the updated tension detection value is greater than the preset value, it is determined that there is an operation risk, and a stop instruction is sent to the delivery device of the interventional robot, so that the delivery device stops the delivery operation of the slender medical device;

[0104] S81. If the judgment result is that the updated tension detection value is less than or equal to the preset value, it is determined that there is no operation risk, and the delivery operation of the slender medical device is continued based on the delivery device.

[0105] Specifically, in this embodiment, when the system detects that the updated tension detection value Fc is greater than the preset safety threshold Flimit, the system automatically determines that there is a potential risk in the current operation. The control system immediately sends a stop command to the delivery device of the interventional robot, commanding it to suspend or completely stop the delivery operation of the slender medical device (such as a catheter and a guidewire) to prevent excessive tension from causing damage to the patient or the device. (Wherein, the delivery device refers to the delivery mechanism of the slender medical device with the drive unit as the main component structure). At the same time, the system will issue an alarm to remind the doctor to pay attention to potential risks, and suggest checking the angle of the robot arm, sensor data, etc. to eliminate abnormal conditions. In addition, the system can also record abnormal events for subsequent analysis and improvement. On the contrary, if the judgment result is that the updated tension detection value is less than or equal to the preset value, it is determined that there is no operational risk, and the delivery operation of the slender medical device continues based on the delivery device, that is, if the updated tension detection value Fc is less than or equal to the preset safety threshold Flimit, the system determines that the current operation is within a safe range and there is no potential risk. The control system will command the delivery device to continue the delivery operation of the slender medical device to ensure that the operation process proceeds smoothly as planned. The system will continue to monitor the tension detection value in real time to ensure that it remains within the safe range throughout the operation process and can respond to any new abnormal conditions in a timely manner. Through the above steps, this embodiment ensures the safety and accuracy of the operation process. The immediate response mechanism can take quick measures when potential risks are detected to avoid further risk expansion; while automated control and real-time monitoring improve the efficiency of the operation process, reduce the possibility of unnecessary interruptions and misoperation, and thus optimize the entire operation process. This method not only improves the reliability of the system, but also enhances the robustness and adaptability of the system, providing strong support for the precise operation of the interventional robot.

[0106] Reference Figure 2-Figure 3 In one embodiment, a pressure calibration device for a drive unit is provided, which is used to execute the method described in any one of the above embodiments, including:

[0107] A driving unit, the driving unit is used to control the movement of the slender medical device in a preset direction; a slide 6, the slide 6 is connected to the driving unit, and is used to support the movement of the driving unit in a preset direction; a pressure sensor, the pressure sensor is arranged between the slide 6 and the driving unit, and is used to monitor the tension detection value.

[0108] In this embodiment, the drive unit is responsible for controlling the movement of the slender medical device (such as a catheter and a guidewire) in a preset direction, and includes a first drive unit 21, a second drive unit 22, and a third drive unit 23. And there are a first pressure sensor 41, a second pressure sensor 42, and a third pressure sensor 43 respectively matched with the first drive unit 21, the second drive unit 22, and the third drive unit 23. In addition, the device also includes a delivery drive module 20, which has the same function as the drive unit, but does not slide relative to the slide 6, and no corresponding pressure sensor is set. The slide 6 is connected to the drive unit to support the movement of the drive unit in a preset direction. The slide 6 is usually a linear guide system that can ensure the smooth movement of the drive unit. The installation direction of the linear guide should be consistent with the delivery direction of the slender medical device. The slide 6 can be installed on the robot base to support the movement of multiple drive units. The design of the slide 6 should ensure sufficient rigidity and stability to reduce vibration and error during movement. The drive unit usually includes a motor and a transmission mechanism that can accurately control the advancement and withdrawal of the medical device. The drive unit is mounted on the slide 6 and can move as a whole with the movement of the slide 6. At the same time, it can also drive the clamped medical device to move in a preset direction through its own drive structure. Through the motor and transmission mechanism, precise control of slender medical devices can be achieved to ensure the accuracy and safety of operation.

[0109] The pressure sensor is arranged between the slide 6 and the drive unit to monitor the tension value generated by the slender medical device during the delivery process. The force detection direction of the pressure sensor is consistent with the delivery direction of the slender medical device. The pressure sensor can provide a high-precision tension detection value to ensure the accuracy and safety of the operation.

[0110] Specifically, based on the above connection structure, a variety of combinations of catheters and guidewires applicable to all current robotic devices can be supported; and as long as the structural combination is similar, more tube-wire combinations can be derived, that is, x catheters and y guidewires; the following only describes the component combinations of one catheter and one guidewire and two catheters and one guidewire:

[0111] Reference Figure 2 , which is a combination of a guide wire and two catheters, wherein the driving unit includes a first driving unit 21, a second driving unit 22 and a third driving unit 23, which can all move relative to the slide 6, and the delivery driving module 20 is fixed on the slide 6 and does not move, the first driving unit 21 can move independently relative to the slide 6, and the second driving unit 22 and the third driving unit 23 move together.

[0112] The catheter includes a first catheter 11 and a second catheter 12, and the guidewire includes a first guidewire 21. One end of the first catheter 11 is fixed to the first drive unit 21, and the other end is fixed to the delivery drive module 20. The delivery drive motor 51 corresponding to the delivery drive module 20 drives the first catheter 11 to move. One end of the second catheter 12 is fixed to the second drive unit 22, and the other end is fixed to the first drive unit 21. The second catheter 12 is driven to move by the first delivery motor 52 of the first drive unit 21; one end of the first guidewire 21 is fixed to the third drive unit 23, and the guidewire movement is driven by the third delivery motor 54 on the third drive unit 23, and the second drive motor acts as an auxiliary drive. A pressure sensor is respectively installed on the connecting shaft between the first drive unit 21, the second drive unit 22 and the third drive unit 23 and the slide 6. Specifically, the pressure sensor includes a first pressure sensor 41, a second pressure sensor 42 and a third pressure sensor 43, which are respectively matched with the first drive unit 21, the second drive unit 22 and the third drive unit 23, and the direction of the measured force is as shown in FIG. Figure 2 The direction indicated by the solid arrow is consistent with the delivery direction of the slender medical device.

[0113] Reference Figure 3 , is a combination of a guide wire and a catheter, wherein the driving unit includes a first driving unit 21, a second driving unit 22 and a third driving unit 23, which can all move relative to the slide 6, the delivery driving module 20 is fixed on the slide 6 and does not move, and the first driving unit 21, the second driving unit 22 and the third driving unit 23 move relative to the slide 6 together;

[0114] The catheter includes a first catheter 11, and the guidewire includes a first guidewire 21. One end of the first catheter 11 is fixed to the first drive unit 21, and the other end is fixed to the delivery drive module 20. The delivery motor of the delivery drive module 20 drives the first catheter 11 to move. One end of the first guidewire 21 is fixed to the third drive unit 23, and the first guidewire 21 is driven to move by the third delivery motor 54 of the third drive unit 23, and the first drive motor and the second drive motor serve as auxiliary drives; corresponding pressure sensors are respectively installed on the connecting shafts between the first drive unit 21, the second drive unit 22 and the third drive unit 23 and the slide 6. Specifically, the pressure sensors include a first pressure sensor 41, a second pressure sensor 42 and a third pressure sensor 43 respectively matched with the first drive unit 21, the second drive unit 22 and the third drive unit 23, and the direction of the measured force is as follows: Figure 3 The direction indicated by the solid arrow is consistent with the delivery direction of the slender medical device.

[0115] In one embodiment, an accelerometer is provided on the robotic arm of the interventional robot or the driving unit for calculating the tilt angle generated during the adjustment of the robotic arm.

[0116] In this embodiment, the accelerometer can be installed at a joint of the robotic arm or on the end effector. When selecting the installation location, it should be ensured that the accelerometer can accurately sense the change in the tilt angle of the robotic arm. The accelerometer can also be installed on the drive unit, especially when the tilt angle of each drive unit needs to be accurately measured. Use a fixed bracket to firmly mount the accelerometer on the robotic arm or drive unit. The fixed bracket should have sufficient rigidity and stability to reduce vibration and error. The accelerometer can provide high-precision acceleration data, thereby ensuring that the calculated tilt angle has a high degree of accuracy.

[0117] In one embodiment, a gyroscope is provided on the mechanical arm of the interventional robot or the driving unit to obtain the tilt angle generated by the mechanical arm or the driving unit.

[0118] In this embodiment, a fixed bracket is used to firmly mount the gyroscope on the robot arm or drive unit. The fixed bracket should have sufficient rigidity and stability to reduce vibration and error. For example, a key joint of the robot arm is selected, usually a joint close to the end effector. The gyroscope is mounted at the joint using a fixed bracket, ensuring that the gyroscope is parallel to the joint plane. The gyroscope can provide high-precision angular velocity data, thereby ensuring that the calculated tilt angle has high accuracy.

[0119] Reference Figure 4 In an embodiment of the present application, a computer device is also provided. The computer device may be a server, and its internal structure may be as follows: Figure 4 As shown. The computer device includes a processor, a memory, a network interface and a database connected by a bus. Among them, the processor designed by the computer is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores operations, computer programs and databases. The memory provides an environment for the operation of operations and computer programs in the non-volatile storage medium. The database of the computer device is used to store data such as pressure calibration of the drive unit. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a pressure calibration method for the drive unit is implemented, including the steps of: obtaining the mechanical arm adjustment information of the interventional robot; when the drive unit in the interventional robot is tilted, calculating the gravity value corresponding to each of the drive units; calculating the actual tension value according to the gravity value and the tension detection value corresponding to the drive unit; updating the tension detection value corresponding to each of the drive units based on the actual tension value.

[0120] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, a pressure calibration method for a drive unit is implemented, comprising the steps of: when the drive units in the interventional robot are tilted, calculating the gravity value corresponding to each of the drive units; calculating the actual tension value based on the gravity value and the tension detection value corresponding to the drive unit; and updating the tension detection value corresponding to each of the drive units based on the actual tension value.

[0121] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a 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 the present application and used in the embodiments can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double-speed data rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0122] The above description is only a preferred embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A pressure calibration method for a drive unit, applied to an interventional robot, characterized in that: include: When the driving units in the interventional robot are tilted, calculating the gravity value corresponding to each driving unit; Calculating an actual tension value according to the gravity value and a tension detection value corresponding to the drive unit; The tension detection value corresponding to each of the driving units is updated based on the actual tension value.

2. The pressure calibration method of the driving unit according to claim 1, characterized in that: The step of calculating the gravity value corresponding to each driving unit when the driving unit in the interventional robot is tilted comprises: When it is identified that the driving units in the interventional robot are tilted, identifying a change value of the tension detection value corresponding to each driving unit; Determine whether each of the change values ​​is valid; If the change values ​​are all valid change values, then each change value is the gravity value corresponding to each driving unit; If there are invalid change values ​​among the change values, the valid change values ​​are screened out to calculate the effective detection average value; and the driving unit gravity value corresponding to the invalid change value is calculated according to the effective detection average value.

3. The pressure calibration method of the driving unit according to claim 1, characterized in that: Before the step of calculating the gravity value corresponding to each driving unit when the driving unit in the interventional robot is tilted, the method includes: Acquiring mechanical arm adjustment information of the interventional robot; Based on the robot arm adjustment information, it is determined whether the driving unit in the interventional robot is tilted.

4. The pressure calibration method of the driving unit according to claim 2, characterized in that: The step of determining whether each of the change values ​​is valid comprises: Calculate an average value of mass changes based on the change values, wherein the mass change is a change of the change value of each driving unit relative to a unit mass; Calculating an error value between the mass change and an average value of the mass change; If the error value exceeds the preset error threshold, the corresponding change value is the invalid change value; If the error value does not exceed the preset error threshold, the corresponding change value is the effective change value.

5. The pressure calibration method of the driving unit according to claim 2, characterized in that: The step of calculating the driving unit gravity value corresponding to the invalid change value according to the effective detection average value comprises: The driving unit gravity value is the product of the effective detection average value and the mass of the driving unit.

6. The pressure calibration method of a driving unit according to claim 1, characterized in that: The step of calculating the gravity value corresponding to each of the driving units further includes: Calculating the tilt angle of the drive unit based on acceleration data of the accelerometer; or obtaining the tilt angle of the driving unit by setting a gyroscope; The corresponding gravity value of each of the driving units is calculated based on the tilt angle.

7. The pressure calibration method of a driving unit according to claim 1, characterized in that: The step of calculating the actual tension value according to the gravity value and the tension detection value corresponding to the driving unit comprises: Based on F c =F s -F g , calculate the actual pulling force value F c Among them, F s F is the tensile force detection value; g is the gravity value.

8. A pressure calibration device for a drive unit, applied to an interventional robot, characterized in that: include: A driving unit, the driving unit is used to control the elongated medical device to move in a preset direction; A slide, the slide is connected to the driving unit and is used to support the movement of the driving unit in a preset direction; A pressure sensor is disposed between the slide and the drive unit and is used to monitor a tension detection value.

9. The pressure calibration device of the drive unit according to claim 8, characterized in that: An accelerometer or a gyroscope is provided on the mechanical arm of the interventional robot or the driving unit, so as to obtain the tilt angle generated by the mechanical arm or the driving unit.

10. The pressure calibration device of a drive unit according to any one of claims 8-9, used to perform the method according to any one of claims 1-7.

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