Interventional surgical robot control method, interventional surgical robot and storage medium

Abstract

The invention relates to the field of medical instruments, and provides an interventional surgical robot control method, an interventional surgical robot and a storage medium. Identifying a first marking part located at the end part of the first slender medical device and a second marking part located at the end part of the second slender medical device in the angiography image; determining a target first slender medical device and a target second slender medical device which are in a coaxial state according to the first marking part and the second marking part; determining relative position information between a first marking part of the end part of the target first slender medical device and a second marking part of the end part of the target second slender medical device; and executing corresponding target operation according to the relative position information. And information prompt is output according to the relative position relation between the first marking part and the second marking part, so that the intelligence of the interventional surgical robot is improved.

Description

Technical Field

[0001] The present application relates to the field of medical devices, and in particular to an interventional surgical robot control method, an interventional surgical robot and a storage medium. Background Art

[0002] In the process of controlling an interventional surgical robot to perform interventional surgery, a variety of slender medical devices, such as catheters and guidewires, are required. The operator needs to always pay attention to the movement trajectory of the guidewire and the catheter, especially the positional relationship between the guidewire and the catheter. For example, when injecting contrast agent, the guidewire needs to be withdrawn into the catheter; and during the withdrawal of the guidewire and the catheter, if the guidewire is outside the catheter, the swing of the guidewire tip may cause damage to the blood vessels, and the guidewire needs to be withdrawn into the catheter. In order to reduce the complexity of interventional surgical robot operation in similar scenarios, an interventional surgical robot control method that can determine the positional relationship between the guidewire and the catheter is urgently needed. Summary of the invention

[0003] The main purpose of the present application is to provide an interventional surgical robot control method, an interventional surgical robot and a storage medium, aiming to enable the interventional surgical robot to automatically identify the positional relationship between a first slender medical device and a second slender medical device, thereby improving the intelligence of the interventional surgical robot.

[0004] In a first aspect, the present application provides an interventional surgical robot control method, the interventional surgical robot control method comprising the following steps:

[0005] Acquire an angiographic image, and identify a first marking portion located at an end of a first elongated medical device and a second marking portion located at an end of a second elongated medical device in the angiographic image;

[0006] determining a target first elongated medical device and a target second elongated medical device in a coaxial state according to the first marking portion and the second marking portion;

[0007] Determining relative position information between the first marking portion at the end of the target first elongated medical device and the second marking portion at the end of the target second elongated medical device;

[0008] A corresponding target operation is performed according to the relative position information.

[0009] In some embodiments, determining the relative position information between the first marking portion at the end of the target first elongated medical device and the second marking portion at the end of the target second elongated medical device includes:

[0010] determining pixel distance information between the first marking portion and the second marking portion in the angiography image;

[0011] There is a corresponding relationship between the pixel distance information and the relative position information, and the relative position information is determined according to the corresponding relationship.

[0012] In some embodiments, identifying a first marking portion located at an end of a first elongated medical device and a second marking portion located at an end of a second elongated medical device in the angiography image includes:

[0013] Acquire a target area in the angiography image whose optical absorption rate is greater than a preset absorption rate;

[0014] The first marking portion is matched in the target region of the angiography image based on a first preset form, and the second marking portion is matched in the target region of the angiography image based on a second preset form.

[0015] In some embodiments, the determining the target first elongated medical device and the target second elongated medical device in a coaxial state according to the first marking portion and the second marking portion comprises:

[0016] In the angiographic image, determining a first center extension line of a first elongated medical device having the first marking portion and a second center extension line of a second elongated medical device having the second marking portion;

[0017] When the first center extension line and the second center extension line are coaxial, the first slender medical device having the first marking portion and the second slender medical device having the second marking portion are determined as the target first slender medical device and the target second slender medical device in a coaxial state.

[0018] In some embodiments, the first elongated medical device comprises a catheter, and the second elongated medical device comprises a guidewire; the target first elongated medical device comprises a target catheter, and the target second elongated medical device comprises a target guidewire.

[0019] In some implementations, performing a corresponding target operation according to the relative position information includes:

[0020] When the end of the target guidewire is in the target catheter and moves along a first direction, if the first relative position information is less than a preset first relative position information, controlling the target guidewire to stop moving and outputting a first information prompt;

[0021] When the target guidewire end is outside the target catheter and moves along the first direction, there is no need to perform the target operation;

[0022] When the target guidewire end is outside the target catheter and moves along the second direction, if the second relative position information is less than the preset second relative position information, outputting a second information prompt;

[0023] When the target guidewire end is in the target catheter and moves along the second direction, if the first relative position information is greater than the preset third relative position information, a third information prompt is output and an operation instruction input by the user based on the third information prompt is obtained.

[0024] In some implementations, outputting a third information prompt and obtaining an operation instruction input by a user based on the third information prompt includes:

[0025] The control information prompt component outputs a third information prompt and obtains a contrast medium instruction input by the user based on the third information prompt, and performs a contrast medium injection operation; or,

[0026] The control information prompt component outputs a third information prompt and obtains a consumable withdrawal instruction input by a user based on the third information prompt, and controls the target catheter and / or the target guidewire to move toward the second direction.

[0027] In a second aspect, the present application also provides an interventional surgical robot, which includes a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein when the computer program is executed by the processor, the steps of the interventional surgical robot control method as described above are implemented.

[0028] In a third aspect, the present application also provides a computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, wherein when the computer program is executed by a processor, the steps of the interventional surgical robot control method as described above are implemented.

[0029] The present application provides an interventional surgical robot control method, an interventional surgical robot and a storage medium. The present application obtains an angiographic image and identifies a first marking portion located at the end of a first slender medical device and a second marking portion located at the end of a second slender medical device in the angiographic image; determines a target second slender medical device and a target first slender medical device in a coaxial state according to the first marking portion and the second marking portion; determines the relative position information between the first marking portion at the end of the target first slender medical device and the second marking portion at the end of the target second slender medical device; and performs a corresponding target operation according to the relative position information. The first marking portion and the second marking portion displayed in the angiographic image are identified. Since the positional relationship between the first marking portion and the second marking portion can reflect the positional relationship between the target second slender medical device and the target first slender medical device, a corresponding target operation is performed according to the relative positional relationship between the first marking portion and the second marking portion, such as outputting information prompts, thereby improving the intelligence of the interventional surgical robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0031] Figure 1 A schematic diagram of a flow chart of an interventional surgical robot control method provided in one embodiment of the present application;

[0032] Figure 2 A schematic diagram of the structure of a catheter end provided in one embodiment of the present application;

[0033] Figure 3 A schematic diagram of the structure of a guide wire end provided in one embodiment of the present application;

[0034] Figure 4 A schematic diagram of a process for outputting information prompts provided in an embodiment of the present application;

[0035] Figure 5 A schematic diagram of a flow chart of outputting information prompts provided in another embodiment of the present application;

[0036] Figure 6 A schematic diagram of a first distance and a second distance provided in an embodiment of the present application. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0038] The flowcharts shown in the accompanying drawings are only examples and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may also be decomposed, combined or partially merged, so the actual execution order may change according to actual conditions.

[0039] Embodiments of the present application provide an interventional surgical robot control method, an interventional surgical robot, and a storage medium.

[0040] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0041] Please refer to Figure 1 , Figure 1 A flowchart of an interventional surgical robot control method provided in an embodiment of the present application. The interventional surgical robot control method can be used for a vascular interventional surgical robot to determine the relative position between a first elongated medical device and a second elongated medical device according to angiographic images.

[0042] like Figure 1 As shown, the interventional surgical robot control method includes steps S101 to S104.

[0043] Step S101: Acquire an angiography image, and identify a first marking portion located at an end of a first elongated medical device and a second marking portion located at an end of a second elongated medical device in the angiography image.

[0044] Exemplarily, the angiographic image may be a digital subtraction angiography (DSA), i.e., an X-ray image taken before and after contrast agent is injected into a blood vessel is digitized and input into an image computer, and an angiographic image is obtained through subtraction, enhancement and re-imaging. The angiographic image in the interventional surgical robot control method provided in the embodiment of the present application also includes a first marking portion at the end of the first elongated medical device and a second marking portion at the end of the second elongated medical device, and the first marking portion and the second marking portion can be displayed in the angiographic image so as to identify the positions of the first elongated medical device end and the second elongated medical device end in the angiographic image according to the first marking portion and the second marking portion.

[0045] Specifically, the first slender medical device may be a catheter; the second slender medical device may be a guidewire; step S101 may be for identifying a first marking portion located at the end of the catheter and a second marking portion located at the end of the guidewire, but is certainly not limited thereto and is not limited here.

[0046] In some embodiments, identifying a first marking portion located at an end of a first elongated medical device and a second marking portion located at an end of a second elongated medical device in the angiography image includes:

[0047] Acquire a target area in the angiography image whose optical absorption rate is greater than a preset absorption rate;

[0048] The first marking portion is matched in the target region of the angiography image based on a first preset form, and the second marking portion is matched in the target region of the angiography image based on a second preset form.

[0049] Please refer to Figure 2 , 3 , Figure 2 A schematic diagram of the structure of a catheter end provided in one embodiment of the present application; Figure 3 A schematic structural diagram of a guide wire end portion provided in one embodiment of the present application.

[0050] like Figure 2 , 3 As shown, since the first marking part and the second marking part are made of materials with an optical absorption rate greater than a preset absorption rate, and the optical absorption rate of the first marking part is greater than other positions of the catheter end, and the optical absorption rate of the second marking part is greater than other positions of the guidewire end, the first marking part and the second marking part can absorb a certain amount of X-rays during angiography, so as to appear in the angiography image. In addition, the first marking part and the second marking part have different sizes and shapes, so as to distinguish the marking parts of different medical devices.

[0051] Specifically, a first preset form corresponding to the first marking portion and a second preset form corresponding to the second marking portion can be pre-set, so as to match the first marking portion in the angiography image based on the first preset form, and match the second marking portion in the angiography image based on the second preset form, so as to identify the first marking portion and the second marking portion in the angiography image.

[0052] Step S102: determining a target first elongated medical device and a target second elongated medical device in a coaxial state according to the first marking portion and the second marking portion.

[0053] For example, during a vascular interventional procedure, more than one guidewire or catheter may be used. In this case, the number of the first marking portion and the second marking portion in the angiography image is more than one. The object of the embodiment of the present application is a first slender medical device and a second slender medical device, and the first slender medical device and the second slender medical device have a coaxial relationship, so the first marking portion and the second marking portion also have a coaxial relationship. It is necessary to determine the target first slender medical device and the target second slender medical device with a coaxial relationship based on whether the first marking portion and the second marking portion are in a coaxial state.

[0054] In some embodiments, the determining the target first elongated medical device and the target second elongated medical device in a coaxial state according to the first marking portion and the second marking portion comprises:

[0055] In the angiographic image, determining a first center extension line of a first elongated medical device having the first marking portion and a second center extension line of a second elongated medical device having the second marking portion;

[0056] When the first center extension line and the second center extension line are coaxial, the first slender medical device having the first marking portion and the second slender medical device having the second marking portion are determined as the target second slender medical device and the target first slender medical device in a coaxial state.

[0057] Exemplarily, if the first center extension line of the catheter and the second center extension line of the guidewire are coaxial, it means that the corresponding catheter and guidewire are coaxial, that is, the guidewire is located in the catheter, and the catheter and the guidewire are determined as the target catheter and the target guidewire.

[0058] Exemplarily, the first center extension line and the second center extension line are coaxial, and the first center extension line and the second center extension line have a collinear relationship, that is, the first center extension line and the second center extension line coincide with or are parallel.

[0059] Specifically, the first slender medical device may be a catheter; the second slender medical device may be a guidewire; step S102 may be a catheter and the guidewire therein, but is certainly not limited thereto and is not limited here.

[0060] Step S103: determining relative position information between the first marking portion corresponding to the first target slender medical device and the second marking portion corresponding to the second target slender medical device.

[0061] Specifically, the first slender medical device may be a catheter; the second slender medical device may be a guidewire. Exemplarily, the relative position information between the first marking portion and the second marking portion is obtained. Since the first marking portion and the second marking portion are respectively located at the end of the first slender medical device and the end of the second slender medical device, the positional relationship between the first marking portion and the second marking portion in the angiography image can be used to determine the positional relationship between the first slender medical device and the second slender medical device, that is, the positional relationship between the catheter and the guidewire, for example, whether the end of the guidewire extends out of the catheter or is contained in the catheter. The relative position information may include the relative direction and relative distance between the first marking portion and the second marking portion.

[0062] In some embodiments, when the guidewire end of the target guidewire is located inside the target catheter, first relative position information is provided between the first marking portion and the second marking portion; when the guidewire end of the target guidewire is located outside the target catheter, second relative position information is provided between the first marking portion and the second marking portion.

[0063] Exemplarily, the target guidewire can be advanced or withdrawn in the target catheter under the clamping of the interventional surgical robot from the end, for example, the guidewire end can be extended out of the catheter so as to perform a clearing operation in the patient's blood vessel through the guidewire; or the guidewire can be withdrawn through the protection of the catheter to avoid damaging the patient's blood vessel.

[0064] Exemplarily, when the guidewire end of the target guidewire is located inside the target catheter, there is first relative position information between the first marking portion and the second marking portion. It can be understood that the first relative position information is used to characterize the distance between the first marking portion and the second marking portion when the guidewire end is located inside the target catheter; when the guidewire end of the target guidewire is located outside the target catheter, there is second relative position information between the first marking portion and the second marking portion. It can be understood that the second relative position information is used to characterize the distance between the first marking portion and the second marking portion when the guidewire end is located outside the target catheter.

[0065] Specifically, assuming that the relative direction between the first marking part and the second marking part is represented by the positive or negative value, the positive number can be used as the first relative position information and the negative number can be used as the second relative position information. Of course, it is not limited to this and is not limited here.

[0066] Step S104: Execute a corresponding target operation according to the relative position information.

[0067] For example, taking the first elongated medical device end as the catheter end and the second elongated medical device end as the guidewire end as an example, the guidewire end has two states: being inside the catheter and being outside the catheter. When the guidewire end is exposed outside the catheter, it may cause damage to the patient. During vascular interventional surgery, special attention should be paid to the positional relationship between the guidewire end and the catheter. The corresponding target operation can be outputting information prompts when the guidewire end approaches the catheter end, such as outputting information prompts when the guidewire end is about to enter or extend from the catheter end. Of course, it is not limited to this. Other operations can also be performed based on the relative position information, such as controlling the guidewire to stop moving. Of course, it is not limited to this and is not limited to this.

[0068] In some embodiments, the target first elongated medical device includes a target catheter, and the target second elongated medical device includes a target guidewire. Step S104 performs a corresponding target operation according to the relative position information, including:

[0069] Step S114: when the guidewire end of the target guidewire is in the target catheter and moves along the first direction, if the first relative position information is less than the preset first relative position information, control the target guidewire to stop moving and output a first information prompt;

[0070] Step S124: when the guidewire end of the target guidewire is outside the target catheter and moves along the first direction, it is not necessary to perform the target operation;

[0071] Step S134: when the guidewire end of the target guidewire is outside the target catheter and moves along the second direction, if the second relative position information is less than the preset second relative position information, output a second information prompt;

[0072] Step S144: when the guidewire end of the target guidewire is in the target catheter and moves along the second direction, if the first relative position information is greater than the preset third relative position information, output a third information prompt and obtain an operation instruction input by the user based on the third information prompt.

[0073] Exemplarily, the target first elongated medical device and the target second elongated medical device may be relatively displaced in a first direction and a second direction. Specifically, the first direction is a direction of guidewire delivery, and the second direction is a direction of guidewire withdrawal.

[0074] Please refer to Figure 4-5 , Figure 4A schematic diagram of a process for outputting information prompts provided in an embodiment of the present application; Figure 5 A schematic diagram of a flow chart of outputting information prompts provided in another embodiment of the present application.

[0075] like Figure 4 As shown, step S114 includes step S1141, step S1142, and step S1143. When the end of the guidewire is located in the catheter, that is, when there is a first relative position information between the first marking portion and the second marking portion, the guidewire may be close to the outlet of the catheter during the operation, so that the first relative position information is less than the preset first relative position information. In this case, it is necessary to remind the operator to pay attention to the movement of the guidewire and stop moving the guidewire, and control the guidewire to stop moving, so as to prevent the guidewire from extending out of the catheter and causing damage to the patient when the operator is not paying attention. Specifically, the first prompt information can be output to prompt the operator that the guidewire is about to move outside the catheter, or the first prompt information can be output to allow the user to confirm whether to continue moving the guidewire. Step S114 can also include step S1144, after outputting the first prompt information, the guidewire continues to move in the first direction until the end of the guidewire enters the outside of the catheter.

[0076] like Figure 4 As shown, step S124 includes step S1241 and step S1242. As the guidewire moves in the first direction, the end of the guidewire enters the outside of the target catheter. When the guidewire continues to move in the first direction, for example, when the guidewire continues to move in the first direction in the blood vessel, the operator needs to focus on the movement of the guidewire to avoid damaging the blood vessel. At this time, there is no need to perform the target operation. Specifically, the target operation can be any operation, such as outputting prompt information or automatically controlling the movement of the guidewire, to prevent interference with the operator.

[0077] like Figure 4 As shown, step S134 includes step S1341, step S1342, and step S1343. When the end of the guidewire is located outside the catheter, that is, when there is a second relative position information between the first marking portion and the second marking portion, the guidewire may be close to the outlet of the catheter during the operation, so that the second relative position information is less than the preset second relative position information. In this case, it is necessary to remind the operator to pay attention to the movement of the guidewire. Specifically, a second prompt message can be output to prompt the operator that the guidewire is about to move into the catheter. Step S134 can also include step S1344, after outputting the second prompt message, the guidewire continues to move in the second direction until the guidewire enters the catheter.

[0078] like Figure 4As shown, step S144 includes step S1441, step S1442, step S1443, step S1444, and step S1445. If after the second information prompt is output, the guidewire is continuously controlled to move in the second direction so that the guidewire enters the catheter, there will be first relative position information between the first marking portion and the second marking portion. When the end of the guidewire enters the catheter by a certain distance, for example, the first relative position information is less than the preset third relative position information, indicating that the contrast agent can be injected into the catheter, the third information prompt is output to the operator to prompt the operator to perform the contrast agent injection operation, or the third information prompt is used to confirm with the operator whether to perform the contrast agent injection operation.

[0079] In some implementations, controlling the information prompt component to output the third information prompt and obtaining an operation instruction input by the user based on the third information prompt includes:

[0080] Control the information prompt component to output a third information prompt and obtain a contrast medium instruction input by the user based on the third information prompt, and perform a contrast medium injection operation; or,

[0081] The information prompt component is controlled to output a third information prompt and obtain a consumables withdrawal instruction input by a user based on the third information prompt, and the target catheter and / or the target guidewire is controlled to move toward the second direction.

[0082] like Figure 4 As shown, step S1444 includes step S1444a and step S1444b; step S1445 includes step S1445a and step S1445b. In the process where the end of the guidewire enters the catheter and continues to move in the second direction in the catheter, if the end of the guidewire moves into the catheter and the first relative position information between the first marking portion and the second marking portion is greater than the third information prompt, then a contrast agent can be injected into the catheter, and a contrast agent injection operation is performed based on the contrast instruction input by the user; the guidewire can also be controlled to continue to move until the guidewire is withdrawn, and the guidewire is controlled to continue to move in the second direction until the guidewire or catheter is withdrawn based on the consumable withdrawal instruction input by the user, or the guidewire and catheter are withdrawn together. Specifically, the third information prompt can be an information prompt including a contrast instruction and a consumable withdrawal instruction for the user to select.

[0083] It is understandable that steps S1441 to S1445 may be performed after steps S1341 to S1344, or may be performed separately, and this is not limited here. Specifically, steps S1441 to S1445 are performed after steps S1341 to S1344, i.e., the end of the guidewire is initially located outside the catheter, and during the process of moving in the second direction, it moves into the catheter and continues to move in the second direction; steps S1441 to S1445 are performed separately, i.e., the end of the guidewire is initially located inside the catheter, and moves in the catheter along the second direction.

[0084] like Figure 5 As shown, if the guidewire advances in the catheter to the point where the distance between the guidewire tip and the catheter tip is less than 4cm, it indicates that the guidewire tip is about to extend out of the catheter. At this time, the guidewire is controlled to stop moving and the first information prompt is output; if the guidewire retreats outside the catheter to the point where the distance between the guidewire tip and the catheter tip is less than 6cm, it indicates that the guidewire is about to enter the catheter. At this time, the second information prompt is output; if the guidewire retreats into the catheter and the distance between the guidewire tip and the catheter tip is greater than 1cm, it indicates that the guidewire has retreated to a reasonable distance. At this time, the third information prompt can be output to perform the contrast agent injection operation. Among them, as Figure 2 , 3 As shown, the guidewire tip and the catheter tip represent the tips of the guidewire end and the catheter end. The information prompt component can be a display screen of the interventional surgical robot or other sound and light prompt components, which are not limited here.

[0085] In some embodiments, determining the relative position information between the first marking portion corresponding to the target catheter and the second marking portion corresponding to the target guidewire includes:

[0086] determining pixel distance information between the first marking portion and the second marking portion in the angiography image;

[0087] There is a corresponding relationship between the pixel distance information and the relative position information, and the relative position information is determined according to the corresponding relationship.

[0088] Exemplarily, the pixel distance information of the first marking part and the second marking part in the angiography image can reflect the actual relative position information between the first marking part and the second marking part, so the relative position information can be determined according to the pixel distance information in the angiography image. Specifically, there is a certain correspondence between the pixel distance information and the relative position information, for example, the pixel distance information and the relative position information can be mapped to each other in a certain ratio, or the camera device used to obtain the angiography image is calibrated, and the pixel distance information in the image coordinate system is converted to the world coordinate system according to the internal and external parameters of the camera device to obtain the actual relative position information.

[0089] Specifically, the angiography image can be preprocessed before obtaining the pixel distance information, and known reference measurement values ​​(such as the sizes of the first marking part and the second marking part measured in advance) can be used to correct the image deformation caused by the perspective effect, restore the actual size and shape of the first marking part and the second marking part in the angiography image, and improve the accuracy of the relative position information.

[0090] In some other embodiments, the determining of the relative position information between the first marking portion at the end of the first elongated medical device and the second marking portion at the end of the second elongated medical device comprises:

[0091] Acquire a first distance between the first marking portion and the catheter tip and a second distance between the second marking portion and the guidewire tip;

[0092] The preset first relative position information, the preset second relative position information, and the preset third relative position information are determined according to the first distance and the second distance.

[0093] Exemplarily, the first marking portion is located at the end of the catheter, and there is a first distance between the first marking portion and the catheter head end; the second marking portion is located at the end of the guidewire, and there is a second distance between the second marking portion and the end of the guidewire. Since the first distance and the second distance may not be equal, the distance between the first marking portion and the second marking portion is not equal to the distance between the catheter head end and the end of the guidewire. In actual operation, we are concerned about the distance between the catheter head end and the end of the guidewire, but what is actually obtained from the angiography image is the distance between the first marking portion and the second marking portion. Therefore, it is necessary to determine the relative distance between the catheter head end and the end of the guidewire based on the first distance and the second distance, and the relative distance between the first marking portion and the second marking portion; or, when there is key relative position information between the catheter head end and the end of the guidewire, the relative distance between the first marking portion and the second marking portion can be determined based on the first distance and the second distance, so as to obtain the values ​​of the preset first relative position information, the preset second relative position information, the preset third relative position information, etc.

[0094] Specifically, the target distance difference between the catheter tip and the guidewire tip is obtained by subtracting the first distance from the second distance. For the first prompt information and the third prompt information issued when the guidewire tip is in the catheter, the first distance value between the guidewire tip and the catheter tip when the first prompt information needs to be output and the third distance value between the guidewire tip and the catheter tip when the third prompt information needs to be output are subtracted from the target distance difference to obtain the preset first relative position information and the preset third relative position information; for the second prompt information issued when the guidewire tip is outside the catheter, the second distance value between the guidewire tip and the catheter tip when the second prompt information needs to be output is added to the target distance difference to obtain the preset second relative position information.

[0095] For example, if the first distance is 1 cm and the second distance is 2 cm, the target distance difference is 2-1=(-1) cm. If the guidewire end is required to output the first prompt information at a position 1 cm away from the catheter head end in the catheter, the first relative position information when the first prompt information is output is 1-(-1)=2 cm, that is, 2 cm is used as the preset first relative position information, and the first prompt information is output when the first relative position information between the first marking part and the second marking part is less than 2 cm; if the guidewire end is required to output the second prompt information at a position 4 cm away from the catheter head end outside the catheter, the second relative position information when the second prompt information is output is 4+(-1)=3 cm, that is, 3 cm is used as the preset second relative position information, and the second prompt information is output when the second relative position information between the first marking part and the second marking part is less than 3 cm, and so on.

[0096] Please refer to Figure 6 , Figure 6 A schematic diagram of a first distance and a second distance provided in another embodiment of the present application.

[0097] For example, if the first distance is equal to the second distance, we can determine that when the first marking portion overlaps with the second marking portion, that is, when the relative distance between the first marking portion and the second marking portion is 0, the guidewire end is exactly located at the catheter tip. However, if the first distance is not equal to the second distance, for example, the first distance between the first marking portion and the catheter tip is 2 cm, and the second distance between the second marking portion and the guidewire end is 3 cm, then when the distance between the first marking portion and the second marking portion is 1 cm, the guidewire end is exactly located at the catheter tip.

[0098] By analogy, the preset first relative position information, the preset second relative position information, and the preset third relative position information can be determined according to the first distance and the second distance. The preset first relative position information, the preset second relative position information, and the preset third relative position information are calculated according to the first distance and the second distance, and the preset first relative position information, the preset second relative position information, and the preset third relative position information are stored, instead of calculating the distance between the end of the guidewire and the catheter head end according to the first distance and the second distance each time, thereby reducing the amount of calculation of the interventional surgical robot control method, and for catheters and guidewires of different specifications, different preset first relative position information, preset second relative position information, and preset third relative position information can be calculated according to different first distances and second distances, respectively, so that this scheme can be applicable to catheters and guidewires of different specifications, thereby improving the flexibility of the interventional surgical robot control method.

[0099] In some embodiments, the embodiments of the present application also provide an interventional surgical robot slave end, which is used to perform delivery or withdrawal operations on a first slender medical device and / or a second slender medical device, and to obtain a vascular angiography image containing the first slender medical device end and the second slender medical device end.

[0100] Exemplarily, the interventional surgery robot slave end is used to obtain control instructions from the interventional surgery robot master end to control the movement of at least one of the guide wire and the catheter. The interventional surgery robot slave end is also provided with an angiography system for obtaining angiography images.

[0101] In some embodiments, the embodiments of the present application also provide an interventional surgical robot, which includes a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein when the computer program is executed by the processor, the steps of the interventional surgical robot control method as described in any one of the embodiments of the present application are implemented.

[0102] Specifically, the interventional surgical robot includes a slave end and a master end, and the processor and memory can be set at the slave end and / or the master end. The slave end is used to obtain control instructions from the master end of the interventional surgical robot to control the movement of at least one of the guide wire and the catheter; the master end is used to send operation instructions to the slave end and obtain feedback information from the slave end.

[0103] Exemplarily, the interventional surgical robot master sends an operation instruction to the interventional surgical robot slave, instructing the slave to perform a delivery or withdrawal operation on the first slender medical device and / or the second slender medical device; the feedback information of the interventional surgical robot slave may, for example, include angiography images.

[0104] Exemplarily, the interventional surgical robot slave end is also provided with an angiography system for acquiring angiography images.

[0105] Exemplarily, the interventional surgical robot slave end and the interventional surgical robot master end are connected to each other by wired or wireless communication to transmit control instructions and information prompts.

[0106] In some embodiments, the embodiments of the present application also provide a computer-readable storage medium, on which a computer program is stored, wherein when the computer program is executed by a processor, the steps of the interventional surgical robot control method as described in any one of the embodiments of the present application are implemented.

[0107] The computer-readable storage medium may be an internal storage unit of the computer device described in the foregoing embodiment, such as a hard disk or memory of the computer device. The computer-readable storage medium may also be an external storage device of the computer device, such as a plug-in hard disk, a smart memory card (SmartMedia Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc., equipped on the computer device.

[0108] It should be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in this application specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0109] It should also be understood that the term "and / or" used in the specification of this application and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, including these combinations. It should be noted that, in this article, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "including a..." does not exclude the presence of other identical elements in the process, method, article or system including the element.

[0110] The serial numbers of the embodiments of the present application are for description only and do not represent the advantages and disadvantages of the embodiments. The above description is only a specific implementation mode of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A method for controlling an interventional surgical robot, characterized in that: The method comprises: Acquire an angiographic image, and identify a first marking portion located at an end of a first elongated medical device and a second marking portion located at an end of a second elongated medical device in the angiographic image; determining a target first elongated medical device and a target second elongated medical device in a coaxial state according to the first marking portion and the second marking portion; Determining relative position information between the first marking portion at the end of the target first elongated medical device and the second marking portion at the end of the target second elongated medical device; A corresponding target operation is performed according to the relative position information.

2. The interventional surgical robot control method according to claim 1, characterized in that: The determining of the relative position information between the first marking portion at the end of the first slender medical device and the second marking portion at the end of the second slender medical device comprises: determining pixel distance information between the first marking portion and the second marking portion in the angiography image; There is a corresponding relationship between the pixel distance information and the relative position information, and the relative position information is determined according to the corresponding relationship.

3. The interventional surgical robot control method according to claim 1, characterized in that: The identifying of a first marking portion located at an end of a first elongated medical device and a second marking portion located at an end of a second elongated medical device in the angiography image comprises: Acquire a target area in the angiography image whose optical absorption rate is greater than a preset absorption rate; The first marking portion is matched in the target region of the angiography image based on a first preset form, and the second marking portion is matched in the target region of the angiography image based on a second preset form.

4. The interventional surgical robot control method according to claim 1, characterized in that: The method of determining the target first elongated medical device and the target second elongated medical device in a coaxial state according to the first marking portion and the second marking portion includes: In the angiography image, determining a first center extension line of the first elongated medical device having the first marking portion and a second center extension line of the second elongated medical device having the second marking portion; When the first center extension line and the second center extension line are coaxial, the first slender medical device having the first marking portion and the second slender medical device having the second marking portion are determined as the target first slender medical device and the target second slender medical device in a coaxial state.

5. The interventional surgical robot control method according to any one of claims 1 to 4, characterized in that: The first elongated medical device comprises a catheter, and the second elongated medical device comprises a guidewire; the target first elongated medical device comprises a target catheter, and the target second elongated medical device comprises a target guidewire.

6. The interventional surgical robot control method according to claim 5, characterized in that: When the target guidewire end is located inside the target catheter, first relative position information is provided between the first marking portion and the second marking portion; when the target guidewire end is located outside the target catheter, second relative position information is provided between the first marking portion and the second marking portion.

7. The interventional surgical robot control method according to claim 6, characterized in that: The performing a corresponding target operation according to the relative position information includes: When the end of the target guidewire is in the target catheter and moves along a first direction, if the first relative position information is less than a preset first relative position information, controlling the target guidewire to stop moving and outputting a first information prompt; When the target guidewire end is outside the target catheter and moves along the first direction, there is no need to perform the target operation; When the target guidewire end is outside the target catheter and moves along the second direction, if the second relative position information is less than the preset second relative position information, outputting a second information prompt; When the target guidewire end is in the target catheter and moves along the second direction, if the first relative position information is greater than the preset third relative position information, a third information prompt is output and an operation instruction input based on the third information prompt is obtained.

8. The interventional surgical robot control method according to claim 7, characterized in that: The step of outputting a third information prompt and acquiring an operation instruction input based on the third information prompt includes: The control information prompt component outputs the third information prompt and obtains the contrast instruction input based on the third information prompt to perform a contrast agent injection operation; or, The control information prompt component outputs the third information prompt and obtains a consumable withdrawal instruction input based on the third information prompt, and controls the target catheter and / or the target guidewire to move toward the second direction.

9. An interventional surgical robot, characterized in that: The interventional surgical robot includes a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein when the computer program is executed by the processor, the steps of the interventional surgical robot control method as described in any one of claims 1 to 8 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein when the computer program is executed by a processor, the steps of the interventional surgical robot control method according to any one of claims 1 to 8 are implemented.

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