Pressure calibration method and device for a drive unit

Abstract

The application relates to the technical field of interventional robots, and discloses a pressure calibration method and device of a driving unit, which comprises the following steps: when the driving unit of the interventional robot is tilted, the gravity value corresponding to each driving unit is calculated; the actual tension value is calculated according to the gravity value and the tension detection value corresponding to the driving unit; and the tension detection value corresponding to each driving unit is updated based on the actual tension value. The application can effectively compensate the influence of the gravity generated by the interventional robot under the condition of tilting on the measurement value of the pressure sensor, so that the measurement value of the pressure sensor is more accurate under different tilting angles, the false detection caused by gravity change is avoided, and the tension measurement precision is improved.

Description

Technical Field

[0001] This application relates to the field of interventional robotics technology, and more specifically, to a pressure calibration method and apparatus for a drive unit. Background Technology

[0002] In the field of medical robotics, particularly in vascular interventional robots, precise control of the robotic arm and accurate manipulation of catheters and guidewires are crucial. Existing vascular interventional robots typically feature multiple drive units, each equipped with a pressure sensor to detect the straightening force of the catheter and guidewire. However, when the robotic arm moves, the tilt angle of the drive unit changes. Different tilt angles cause varying effects of gravity on the pressure sensor, leading to false detections of catheter straightening force. These false detections can prevent doctors from accurately assessing the catheter's condition, thus affecting the precision and safety of the surgical procedure. Particularly when the drive unit is adjusted from a horizontal position to a large angle (e.g., around 45 degrees) with the horizontal plane, the pressure sensor reading increases significantly, typically exceeding 1N. This results in the pressure sensor consistently detecting pressure above the threshold, making it undetectable even if the catheter is bent. Furthermore, other external forces (such as manual intervention by the operator) can also interfere with the pressure sensor's measurements, further reducing accuracy. Existing pressure sensors have inconsistent measurement accuracy at different tilt angles, especially at larger tilt angles, where measurement errors increase significantly, which limits the application of robots in complex surgical environments.

[0003] Therefore, the problem of measurement errors caused by the pressure sensors of existing interventional robot drive units being susceptible to the movement of the robotic arm urgently needs to be solved. Summary of the Invention

[0004] The main objective of this application is to provide a pressure calibration method and apparatus for a drive unit, which addresses the technical problem of measurement errors caused by the susceptibility of pressure sensors in a robot's drive unit to the influence of robotic arm movement.

[0005] The first aspect of this application proposes a pressure calibration method for a drive unit, applied to an interventional robot, comprising:

[0006] When the drive unit in the intervention robot tilts, calculate the gravity value corresponding to each drive unit;

[0007] The actual tension value is calculated based on the gravity value and the tension detection value corresponding to the drive unit.

[0008] The tension detection value corresponding to each drive unit is updated based on the actual tension value.

[0009] Further, the step of calculating the gravity value corresponding to each drive unit when the drive unit in the intervention robot tilts includes:

[0010] When it is detected that the drive unit in the intervention robot is tilted, the change value of the tension detection value corresponding to each drive unit is identified;

[0011] Determine whether each of the stated changes is valid;

[0012] If all the changes are valid, then each of the changes is the gravity value corresponding to each of the driving units;

[0013] If there are invalid change values, the valid change values ​​are selected and the effective detection average value is calculated; the gravity value of the drive unit corresponding to the invalid change value is calculated based on the effective detection average value.

[0014] Further, before the step of calculating the gravity value corresponding to each drive unit when the drive unit in the intervention robot tilts, the following steps are included:

[0015] Obtain the robotic arm adjustment information of the interventional robot;

[0016] Based on the robotic arm adjustment information, it is determined whether the drive unit in the intervention robot has tilted.

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

[0018] The average value of the mass change is calculated based on the change value, wherein the mass change is the change value of each drive unit relative to a unit mass.

[0019] Calculate the error between the mass change and the average 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, then the corresponding change value is the valid change value.

[0022] Further, the step of calculating the gravity value of the drive unit corresponding to the invalid change value based on the effective detection average value includes:

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

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

[0025] The tilt angle of the drive unit is calculated based on the acceleration data from the accelerometer;

[0026] Alternatively, the tilt angle of the drive unit can be obtained by setting a gyroscope;

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

[0028] Further, the step of calculating the actual tension value based on the gravity value and the tension detection value corresponding to the drive unit includes:

[0029] Based on F c =F s -F g The actual tensile force F was calculated. c Among them, F s F is the measured tensile force value; g The value is the gravity value.

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

[0031] A drive unit is used to control the movement of a slender medical device in a preset direction;

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

[0033] A pressure sensor is disposed between the slide and the drive unit to monitor the tensile force detection value.

[0034] Furthermore, the robotic arm of the interventional robot or the drive unit is equipped with an accelerometer or gyroscope to calculate the tilt angle generated by the robotic arm or the drive unit.

[0035] Furthermore, the pressure calibration device of the drive unit is used to perform the method described in any one of the above descriptions.

[0036] Beneficial effects:

[0037] This application effectively compensates for the influence of gravity generated by the tilting of the robot's drive units on the pressure sensor measurements by calculating the gravity value of the drive units in real time. This makes the pressure sensor measurements more accurate at different tilt angles, avoids false detections caused by gravity changes, and improves the accuracy of tensile force measurement. Attached Figure Description

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

[0039] Figure 2 This is a schematic diagram of the structure of a pressure calibration device for a drive unit according to an embodiment of this application, which includes a guide wire and two guide tubes;

[0040] Figure 3 This is a schematic diagram of the structure of a pressure calibration device for a drive unit according to an embodiment of this application, which includes a guide wire and a guide tube;

[0041] Figure 4 This is a schematic diagram of a computer device structure according to an embodiment of this 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 guidewire; 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 table;

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

[0044] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0045] Those skilled in the art will understand that, unless explicitly stated otherwise, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the term “comprising” as used in the specification of this application means 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 referred to as “connected” or “coupled” to another element, it may be directly connected or coupled to the other element, or there may be intermediate elements. Furthermore, “connected” or “coupled” as used herein may include wireless connections or wireless coupling. The term “and / or” as used herein includes all or any modules and all combinations thereof of one or more associated listed items.

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

[0047] Reference Figure 1 This application provides a pressure calibration method for a drive unit, comprising:

[0048] S1. When the drive unit in the intervention robot tilts, calculate the gravity value corresponding to each drive unit;

[0049] S2. Calculate the actual tension value based on the gravity value and the tension detection value corresponding to the drive unit;

[0050] S3. Update the tension detection value corresponding to each drive unit based on the actual tension value.

[0051] In this embodiment, the slave end of the intervention robot includes multiple drive units, such as referenced Figures 2-3 The system includes a first drive unit 21, a second drive unit 22, and a third drive unit 23. These drive units are used to deliver slender medical devices. The drive units are connected to a slide table 6, which supports the sliding connection of the drive units, allowing the drive units to move as a whole. Simultaneously, the drive units can also drive the held slender medical device to move in a preset direction through their own drive structure. The specific installation structure can be set according to the type of slender medical device and the actual application. A pressure sensor is located between the drive units and the slide table 6. Its force detection direction is consistent with the delivery direction of the slender medical device; that is, the pressure value detected by the pressure sensor is actually the tensile force generated by the slender medical device during delivery.

[0052] For a single pressure sensor, the measured pressure value Fs satisfies the following formula: Among them, F cn (n=1,2...) represents the pulling force F exerted on the drive unit by all the slender medical devices mounted on it. em (m=1,2...) represent forces other than the tensile force generated by the slender medical device; in F em In the sequence (m = 1, 2...), one of the forces F is known. e1 =F g (F g (for the gravity of the driving unit), while F g Satisfy the following formula: Fg =mgcosθ, where m is the mass of the drive unit and all components on the drive unit, g is the gravitational acceleration, and θ is the angle between the slide 6 and the horizontal plane. In this embodiment, the corresponding gravity generated by the adjustment of the robotic arm is calculated, and the actual tension value is calculated based on the detection value of the pressure sensor.

[0053] The calculation of gravity can be achieved by installing an accelerometer on the robotic arm or drive unit to determine the corresponding adjustment angle of the robotic arm; alternatively, a gyroscope can be installed on the robotic arm or drive unit to obtain the angle of movement in real time during the movement of the robotic arm, and then the result can be calculated based on formula F. g Calculate the corresponding gravity value using mgcosθ;

[0054] In addition, no additional detection device is needed. Gravity values ​​can be calculated directly from pressure readings, and values ​​within a reasonable range of variation can be selected. The average mass change, or the detected average, is then calculated based on these values. This mass change represents the change in mass of each drive unit relative to a unit mass. Finally, the final gravity value is calculated based on the effective variation values ​​and the detected average. Among them, △F gk The gravity value corresponding to the drive unit numbered k; △F sk F represents the change value corresponding to the drive unit numbered k; s avgf represents the average detection value, m k Let k be the mass corresponding to the drive unit numbered k; where 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 structure of the slide 6 is strong enough, k can be infinitely large. If the tensile force detection value corresponding to the current drive unit is a valid detection value, then the corresponding gravity value is ΔF. sk， That is, the valid detection value itself; if the tension detection value corresponding to the current drive unit is an invalid detection value, then the gravity value of the current drive unit is the average detection value multiplied by the mass of the current drive unit.

[0055] After obtaining the corresponding gravity value, the actual tensile force F can be derived using Formula 1. s -F g The actual tension value of the current drive unit is obtained by subtracting the calculated gravity value from the tension detection value. The tension detection value of the pressure sensor corresponding to the current drive unit is updated by the actual tension value, thus completing the compensation of the actual measurement value based on gravity after the adjustment of the robotic arm and reducing the error influence on the pressure sensor.

[0056] Further, before the step of calculating the gravity value corresponding to each drive unit when the drive unit in the intervention robot tilts, the following steps are included:

[0057] S01. Obtain the robotic arm adjustment information of the intervention robot;

[0058] S02. Based on the robotic arm adjustment information, determine whether the drive unit in the intervention robot has tilted.

[0059] When the robot is in operation, the movement of the robotic arm will cause a change in the tilt angle of the drive unit. Therefore, it is first necessary to obtain the adjustment information of the robotic arm. Specifically, when the robotic arm begins to adjust, the system receives an adjustment start command, and when the robotic arm completes the adjustment, the system receives an adjustment end command. These adjustment commands trigger corresponding events to record the state before and after the adjustment. After the adjustment events have ended, 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, it can be determined whether the drive unit in the intervention robot has tilted based on the adjustment command of the robotic arm; or it can be determined whether tilting has occurred based on the change in angle detected by the detection device. The detection device can be an accelerometer or a gyroscope, or other infrared detection devices that can detect non-horizontal movement of the robotic arm or drive unit. No further limitation is made here.

[0061] In one embodiment, the step of calculating the gravity value corresponding to each drive unit when the drive unit in the intervention robot tilts includes:

[0062] S10. When it is detected that the drive unit in the intervention robot is tilted, identify the change value of the tension detection value corresponding to each drive unit;

[0063] S11. Determine whether each of the stated changes is valid;

[0064] S12. If all the changes are valid, then each of the changes is the gravity value corresponding to each drive unit.

[0065] S13. If there are invalid change values, the valid change values ​​are selected and the effective detection average value is calculated; the gravity value of the drive unit corresponding to the invalid change value is calculated based on 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 tilting event, record the final measurement value F of the pressure sensor for each drive unit. sk Stop; then based on ΔF sk＝ F sk stop-Fsk Start, and obtain the pressure change value ΔF for each drive unit. sk When the intervention robot is operating, the movement of the robotic arm will cause a change in the tilt angle of the drive unit. Therefore, it is first necessary to obtain the adjustment information of the robotic arm. Specifically, when the robotic arm begins to adjust, the system receives an adjustment start command, and when the robotic arm completes the adjustment, the system receives an adjustment end command. These adjustment commands trigger corresponding events to record the state before and after the adjustment. That is, when an adjustment command of the robotic arm is detected, it is considered that the drive unit of the intervention robot has tilted; or when the corresponding detection device installed on the drive unit detects a change in the current angle of the drive unit, it is determined that the drive unit has tilted.

[0067] After calculating the pressure change value for each drive unit, the system first checks for invalid values. If no invalid values ​​are found, all current changes are considered the corresponding gravity values. If invalid values ​​are identified, valid values ​​are selected from the current values, and an effective average detection value is calculated based on these valid values. The effective average detection value is the average mass change of the drive unit corresponding to each valid value.

[0068] In this embodiment, when invalid change values ​​exist in each drive unit, the gravity value of the drive unit corresponding to the invalid change value is calculated based on the effective detection average value. This includes retaining the gravity value of the corresponding drive unit as the valid change value, and calculating the gravity value of the drive unit corresponding to the invalid change value using the effective detection average value. In addition, in another embodiment, the gravity value of each drive unit can be calculated using the effective detection average value.

[0069] By filtering valid change values, data affected by external interference or abnormal factors can be excluded. These external interferences may include operator intervention, mechanical failure, or other unexpected forces. Data redundancy processing through multiple drive units reduces the impact of single sensor failures or abnormal data on the overall calculation results, enhancing the system's robustness. Calculating gravity values ​​based on valid change values ​​or the average of valid detection values ​​allows for more accurate compensation of the influence of gravity on pressure sensor measurements during robotic arm adjustments, improving the accuracy of tension detection.

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

[0071] S20. Calculate the average value of the mass change based on the change value, wherein the mass change is the change value of each drive unit relative to the unit mass.

[0072] S21. Calculate the error value between the mass change amount and the average value of the mass change amount;

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

[0074] S23. If the error value does not exceed the preset error threshold, then 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 the mass change; k is the drive unit number; m k The mass of the driving unit; △F sk The change value of the driving unit; N is the number of driving units;

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

[0078] Specifically, firstly, the change in pressure detection value ΔF of each drive unit during the adjustment of the robotic arm is obtained. sk For each drive unit, calculate its mass change. Where m k Let F be the mass of the k-th drive unit. Based on the mass changes of all drive units, calculate the average mass change, F. s avg, the formula is Here, N represents 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, making the change values ​​of different drive units comparable. By calculating the average value, the impact of abnormal data from individual drive units on the overall calculation results can be reduced, improving the reliability of the data.

[0079] For each drive unit, calculate the error F of its mass change relative to the average value. sk Error, the formula is: Calculating error values ​​helps identify drive units 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 If the error exceeds the preset error threshold Perrlimit, then the corresponding change value ΔF of the drive unit... sk Values ​​marked as invalid changes can enhance the robustness of the system by excluding outlier data, enabling it to maintain good performance even under complex operating conditions.

[0081] For each drive unit, if its error value F sk If the error does not exceed the preset error threshold Perrlimit, then the change value ΔF corresponding to this drive unit... sk Values ​​marked as valid changes. By calculating gravity values ​​based on valid changes or the average of valid detections, the influence of gravity on pressure sensor measurements during robotic arm adjustments can be compensated more accurately, 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 represents the effective detection average value; v represents the drive unit number corresponding to the effective change value; m represents the total number of drive units corresponding to the effective change value; ΔF sv For effective change values; m v The mass of the drive unit corresponding to the effective change value.

[0084] In this embodiment, valid change values ​​are selected from the change values ​​of all driving units. Valid change values ​​refer to those error values ​​F. sk The error does not exceed the preset error threshold Perrlimit. For each valid change value, the mass change of the corresponding drive unit is calculated. Where m v It is the mass of the drive unit corresponding to the vth effective change value. △F sv The effective change value (or the change value of the drive unit corresponding to the effective change value); the effective detection average value is calculated based on the following formula: m represents the total number of drive units corresponding to the valid change values. Calculating the average value using multiple valid change values ​​can reduce the impact of a single sensor failure or abnormal data on the overall calculation results, thus enhancing system stability.

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

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

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

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

[0089] S50. Calculate the tilt angle of the drive unit based on the acceleration data from the accelerometer;

[0090] S51, or the tilt angle of the drive unit can be obtained by setting a gyroscope;

[0091] S52. Calculate the corresponding gravity value of each drive unit based on the tilt angle.

[0092] In this embodiment, an accelerometer is installed on the robotic arm or drive unit, and acceleration data is collected during the adjustment process of the robotic arm. Based on the acceleration data, the tilt angle θ of the robotic arm during the adjustment process is calculated. Typically, the accelerometer can provide acceleration data along three axes, and the tilt angle can be calculated from this data. For example, assuming the acceleration of the accelerometer on the z-axis is a... z The tilt angle θ can be calculated using the following formula: Where g is the gravitational acceleration.

[0093] Alternatively, a gyroscope can be installed on the robotic arm or drive unit. During the robotic arm's adjustment process, angular velocity data from the gyroscope is collected. Based on this angular velocity data, the tilt angle θ of the robotic arm during the adjustment process can be calculated. The gyroscope can provide angular velocity data, and the tilt angle can be obtained by integrating this data. For example, suppose the angular velocity of the gyroscope on the z-axis is w. z The tilt angle θ can be calculated using the following formula: θ=∫w z dt, a gyroscope can provide high-precision angular velocity data, thereby ensuring that the calculated tilt angle has high accuracy. Gyroscopes are less sensitive to environmental interference and can provide stable measurement results in complex environments.

[0094] The tilt angle θ of the robotic arm during the adjustment process is obtained through step S50 or S51 described above. Then, based on the calculated tilt angle, gravitational acceleration, and commands from the drive units, the gravity value corresponding to each drive unit is calculated. For each drive unit, its gravity value F is calculated according to its mass m and tilt angle θ. g The formula is: F g = mgcosθ; where g is the acceleration due to gravity, calculated by the gravitational force F. g This technology can accurately compensate for the influence of gravity on the pressure sensor readings during the robotic arm's adjustment process, improving the accuracy of tension detection. High-precision data from accelerometers or gyroscopes ensures high accuracy in the calculated tilt angle, thereby improving the accuracy of gravity value calculations.

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

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

[0097] In this embodiment, the tensile force detection value F of each drive unit is obtained from the pressure sensor. s And the gravity value F of each drive unit was calculated. g For each drive unit, based on formula F c =F s -F g Calculate the actual tensile force F c By measuring the tensile force value F s Subtract the gravity value F from the middle gThis technology can accurately compensate for the influence of gravity on the pressure sensor readings during the robotic arm's adjustment process, improving the accuracy of tension detection. Through precise tension value calculation, the overall performance of the system can be improved, ensuring accurate measurement results in various 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 drive units based on the actual tension value, the method includes:

[0099] S70. Determine whether the updated tensile force detection value is greater than the preset value;

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

[0101] In this embodiment, the aim is to ensure the safety and accuracy of the operation by monitoring and updating the tensile force detection value in real time. After calculating the actual tensile force value Fc, this value is updated to the tensile force detection value corresponding to the drive unit. Based on actual needs and safety standards, a preset value Flimit, such as 1N, is set to determine whether the tensile force detection value exceeds the safe range and whether the updated tensile force detection value Fc is greater than the preset value Flimit. Setting a preset value ensures operational safety and avoids operational risks or damage to the equipment caused by excessive tensile force. If the updated tensile force detection value Fc is less than or equal to the preset value Flimit, the delivery of slender medical devices (such as catheters and guidewires) continues normally. If the updated tensile force detection value Fc is greater than the preset value, the control system will issue an alarm and pause or stop the delivery of slender medical devices to prevent potential risks. After pausing or stopping delivery, the system can take corresponding corrective measures according to the actual situation, such as adjusting the angle of the robotic arm or recalibrating the sensors, to ensure the safety of subsequent operations. Through automated control mechanisms, the process can be optimized, the operator's workload reduced, efficiency improved, and operational risks reduced.

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

[0103] S80. If the judgment result is that the updated tensile detection value is greater than the preset value, it is determined that there is an operational risk, and a stop command is sent to the delivery device of the interventional robot to stop the delivery operation of the slender medical device based on the delivery device.

[0104] S81. If the judgment result is that the updated tensile test 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.

[0105] Specifically, in this embodiment, when the system detects that the updated tensile force detection value Fc is greater than the preset safety threshold Flimit, the system automatically determines that the current operation has a potential risk. The control system immediately sends a stop command to the delivery device of the interventional robot, ordering it to pause or completely stop the delivery operation of slender medical devices (such as catheters and guidewires) to prevent excessive tensile force from causing damage to the patient or equipment. (The delivery device refers to the delivery mechanism of slender medical devices with a drive unit as its main component). At the same time, the system will issue an alarm to remind the doctor to pay attention to the potential risk and suggest checking the angle of the robotic arm, sensor data, etc., to rule out abnormalities. In addition, the system can also record abnormal events for subsequent analysis and improvement. Conversely, if the judgment result is that the updated tensile force detection value is less than or equal to the preset value, it is determined that there is no operational risk, and the delivery device continues to deliver the slender medical device. That is, if the updated tensile force detection value Fc is less than or equal to the preset safety threshold Flimit, the system determines that the current operation is within the safe range and there is no potential risk. The control system commands the delivery device to continue delivering the slender medical device, ensuring the operation proceeds smoothly as planned. The system continuously monitors the tension detection values ​​in real time, ensuring they remain within a safe range throughout the operation and responding promptly to any new anomalies. Through these steps, this embodiment ensures the safety and accuracy of the operation. The immediate response mechanism can quickly take action when potential risks are detected, preventing further escalation; while automated control and real-time monitoring improve operational efficiency, reduce unnecessary interruptions and the possibility of misoperation, thereby optimizing the entire operational process. This approach not only improves system reliability but also enhances its robustness and adaptability, providing strong support for the precise operation of interventional robots.

[0106] Reference Figures 2-3 In one embodiment, a pressure calibration device for a drive unit is provided for performing the method described in any one of the above embodiments, comprising:

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

[0108] In this embodiment, the drive unit is responsible for controlling the movement of slender medical devices (such as catheters and guidewires) in a preset direction, and includes a first drive unit 21, a second drive unit 22, and a third drive unit 23. A first pressure sensor 41, a second pressure sensor 42, and a third pressure sensor 43 are respectively matched and configured to correspond to the first drive unit 21, the second drive unit 22, and the third drive unit 23. Furthermore, the device includes a delivery drive module 20, which functions similarly to the drive unit but does not slide relative to the slide table 6 and does not have corresponding pressure sensors. The slide table 6 is connected to the drive unit and supports its movement in the preset direction. The slide table 6 is typically a linear guide system to ensure smooth movement of the drive unit. The linear guide's installation direction should be consistent with the delivery direction of the slender medical device. The slide table 6 can be mounted on a robot base to support the movement of multiple drive units. The design of the slide table 6 should ensure sufficient rigidity and stability to reduce vibration and errors during movement. The drive unit typically includes a motor and a transmission mechanism, capable of precisely controlling the advancement and retraction of the medical device. The drive unit is mounted on the slide table 6 and can move as a whole with the slide table 6. It can also drive the clamped medical device to move in a preset direction via its own drive structure. Through the motor and transmission mechanism, precise control of slender medical devices can be achieved, ensuring the accuracy and safety of operation.

[0109] A pressure sensor is positioned between the slide 6 and the drive unit to monitor the tensile force generated during the delivery of the slender medical device. The force detection direction of the pressure sensor is consistent with the delivery direction of the slender medical device. The pressure sensor provides high-precision tensile force readings, ensuring operational accuracy and safety.

[0110] Specifically, based on the above connection structure, it can support various combinations of catheters and guidewires applicable to current robotic devices; and as long as the structural combinations are similar, it can be extended to more catheter and guidewire combinations, i.e., 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 It is a combination of a guidewire and two catheters, wherein the driving unit includes a first driving unit 21, a second driving unit 22 and a third driving unit 23, all of which can move relative to the slide table 6. The delivery driving module 20 is fixed on the slide table 6 and does not move. The first driving unit 21 can move independently relative to the slide table 6, while 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 a guidewire includes a first guidewire 21. One end of the first catheter 11 is fixed to a first drive unit 21, and the other end is fixed to a delivery drive module 20. A 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 a second drive unit 22, and the other end is fixed to a first drive unit 21. The second catheter 12 is driven to move by a first delivery motor 52 of the first drive unit 21. One end of the first guidewire 21 is fixed to a third drive unit 23, and the guidewire is driven to move by a third delivery motor 54 on the third drive unit 23. The second drive motor provides auxiliary drive. A pressure sensor is 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 table 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 and configured to match the first drive unit 21, the second drive unit 22, and the third drive unit 23. The direction of the measured force is as follows: Figure 2 The direction indicated by the solid arrow is consistent with the delivery direction of the slender medical device.

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

[0114] The conduit includes a first conduit 11, and the guidewire includes a first guidewire 21. One end of the first conduit 11 is fixed to a first drive unit 21, and the other end is fixed to a delivery drive module 20. The delivery motor of the delivery drive module 20 drives the first conduit 11 to move. One end of the first guidewire 21 is fixed to a third drive unit 23, and the first guidewire 21 is driven to move by a third delivery motor 54 of the third drive unit 23. The first drive motor and the second drive motor provide auxiliary drive. 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 table 6. Specifically, the pressure sensors include a first pressure sensor 41, a second pressure sensor 42, and a third pressure sensor 43, which are respectively matched and configured to match the first drive unit 21, the second drive unit 22, and the third drive unit 23. The direction of their 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 drive unit to calculate the tilt angle generated during the adjustment of the robotic arm.

[0116] In this embodiment, the accelerometer can be mounted at a joint of the robotic arm or on the end effector. When selecting the mounting location, it should be ensured that the accelerometer can accurately sense changes in the tilt angle of the robotic arm. The accelerometer can also be mounted on the drive unit, especially when precise measurement of the tilt angle of each drive unit is required. A mounting bracket is used to securely mount the accelerometer to the robotic arm or drive unit. The mounting bracket should have sufficient rigidity and stability to reduce vibration and errors. The accelerometer provides high-precision acceleration data, thereby ensuring high accuracy in the calculated tilt angle.

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

[0118] In this embodiment, a fixed bracket is used to securely mount the gyroscope to the robotic arm or drive unit. The fixed bracket should have sufficient rigidity and stability to reduce vibration and errors. For example, a critical joint of the robotic arm is selected, typically the joint near the end effector. The gyroscope is mounted at the joint using the fixed bracket, ensuring that the gyroscope is parallel to the joint plane. The gyroscope can provide high-precision angular velocity data, thereby ensuring high accuracy in the calculated tilt angle.

[0119] Reference Figure 4 This application also provides a computer device, which may be a server, and its internal structure may be as follows: Figure 4 As shown. The computer device includes a processor, memory, network interface, and database connected via a bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores operations, computer programs, and the database. The internal memory provides an environment for the operation and execution of the computer programs stored in the non-volatile storage medium. The database stores data such as pressure calibration of the drive units. The network interface communicates with external terminals via a network connection. When the computer program is executed by the processor, it implements a pressure calibration method for a drive unit, including the steps of: acquiring the adjustment information of the robotic arm of the interventional robot; calculating the gravity value corresponding to each drive unit when the drive unit in the interventional robot tilts; 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 drive unit based on the actual tension value.

[0120] An embodiment of this application also provides a computer-readable storage medium storing a computer program thereon. When the computer program is executed by a processor, it implements a pressure calibration method for a drive unit, including the steps of: when the drive unit in the intervention robot tilts, calculating the gravity value corresponding to each drive unit; 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 drive unit based on the actual tension value.

[0121] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the methods described above. Any references to memory, storage, databases, or other media provided in this application and used in the embodiments can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual-rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0122] The above description is only a preferred embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural changes made based on the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A pressure calibration method for a drive unit, applied to an interventional robot, the interventional robot comprising multiple drive units, characterized in that, include: When the drive unit in the interventional robot tilts, the gravity value corresponding to each drive unit is calculated. The steps include identifying the change value of the tension detection value corresponding to each drive unit when the tilt of the drive unit in the interventional robot is detected. Determine whether each of the stated changes is valid; If all the changes are valid, then each of the changes is the gravity value corresponding to each of the driving units; If there are invalid change values, the valid change values ​​are filtered out and the effective detection average value is calculated; the gravity value of the drive unit corresponding to the invalid change value is calculated based on the effective detection average value. The actual tension value is calculated based on the gravity value and the tension detection value corresponding to the drive unit. The tension detection value corresponding to each drive unit is updated based on the actual tension value.

2. The pressure calibration method for the drive unit according to claim 1, characterized in that, Before the step of calculating the gravity value corresponding to each drive unit when the drive unit in the intervention robot tilts, the following steps are included: Obtain the robotic arm adjustment information of the interventional robot; Based on the robotic arm adjustment information, it is determined whether the drive unit in the intervention robot has tilted.

3. The pressure calibration method for the drive unit according to claim 1, characterized in that, The step of determining whether each of the changed values ​​is valid includes: The average value of the mass change is calculated based on the change value, wherein the mass change is the change value of each drive unit relative to a unit mass. Calculate the error between the mass change and the average 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, then the corresponding change value is the valid change value.

4. The pressure calibration method for the drive unit according to claim 1, characterized in that, The step of calculating the gravity value of the drive unit corresponding to the invalid change value based on the effective detection average value includes: The gravity value of the drive unit is the product of the effective detection average value and the mass of the drive unit.

5. The pressure calibration method for the drive unit according to claim 1, characterized in that, The step of calculating the gravity value corresponding to each of the driving units further includes: The tilt angle of the drive unit is calculated based on the acceleration data from the accelerometer; Alternatively, the tilt angle of the drive unit can be obtained by setting a gyroscope; The corresponding gravity value of each drive unit is calculated based on the tilt angle.

6. The pressure calibration method for the drive unit according to claim 1, characterized in that, The step of calculating the actual tension value based on the gravity value and the tension detection value corresponding to the drive unit includes: Based on F c =F s -F g The actual tensile force F was calculated. c Among them, F s The measured tensile force value is F. g The value is the gravity value.

7. A pressure calibration device for a drive unit, applied to an interventional robot, characterized in that, Used to perform the pressure calibration method according to any one of claims 1-6.

8. The pressure calibration device for the drive unit according to claim 7, characterized in that, include: A drive unit is used to control the movement of a slender medical device in a preset direction; A slide table, which is connected to the drive unit, is used to support the movement of the drive unit in a preset direction; A pressure sensor is disposed between the slide and the drive unit to monitor the tensile force detection value.

9. The pressure calibration device for the drive unit according to claim 8, characterized in that, The robotic arm or the drive unit of the interventional robot is equipped with an accelerometer or gyroscope to determine the tilt angle generated by the robotic arm or the drive unit.

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