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

Abstract

This application relates to the field of medical devices, providing a control method for an interventional surgical robot, an interventional surgical robot, and a storage medium. The method includes: acquiring angiography images and identifying a first marker located at the end of a first elongated medical device and a second marker located at the end of a second elongated medical device in the angiography images; determining, based on the first and second markers, a target first elongated medical device and a target second elongated medical device in a coaxial state; determining the relative position information between the first marker at the end of the target first elongated medical device and the second marker at the end of the target second elongated medical device; and performing a corresponding target operation based on the relative position information. Information prompts are output based on the relative positional relationship between the first and second markers, thereby improving the intelligence of the interventional surgical robot.

Description

Technical Field

[0001] This application relates to the field of medical devices, and more particularly to a control method for an interventional surgical robot, an interventional surgical robot, and a storage medium. Background Technology

[0002] In controlling interventional surgical robots to perform interventional surgeries, various slender medical instruments, such as catheters and guidewires, are required. Operators must constantly monitor the movement trajectories of the guidewires and catheters, especially their positional relationship. For example, when injecting contrast agents, the guidewire needs to be retracted into the catheter; and during guidewire and catheter retraction, if the guidewire is outside the catheter, the oscillation of the guidewire tip may damage the blood vessel, necessitating retraction. To reduce the complexity of operating interventional surgical robots in such scenarios, a control method for interventional surgical robots capable of determining the positional relationship between guidewires and catheters is urgently needed. Summary of the Invention

[0003] The main objective of this application is to provide a control method for an interventional surgical robot, an interventional surgical robot, and a storage medium, which aims 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, this application provides a control method for an interventional surgical robot, applied to an interventional surgical robot system, the control method comprising the following steps:

[0005] Acquire angiography images and identify a first marker located at the end of a first elongated medical device and a second marker located at the end of a second elongated medical device in the angiography images;

[0006] The first elongated medical device and the second elongated medical device are determined to be in a coaxial state based on the first marking part and the second marking part;

[0007] Determine 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;

[0008] Based on the relative position information, prompts or control commands are generated.

[0009] In some embodiments, determining the relative positional 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 includes:

[0010] Determine the pixel distance information between the first marker and the second marker in the angiography image;

[0011] There is a correspondence between the pixel distance information and the relative position information, and the relative position information is determined based on the correspondence.

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

[0013] Obtain the target region in the angiography image where the optical absorption rate is greater than the preset absorption rate;

[0014] The first marker portion is matched in the target area of ​​the angiography image based on a first preset shape, and the second marker portion is matched in the target area of ​​the angiography image based on a second preset shape.

[0015] In some embodiments, determining the first elongated medical device and the second elongated medical device in a coaxial state based on the first marking portion and the second marking portion includes:

[0016] In the angiography image, a first central extension line of a first elongated medical device having the first marking portion and a second central extension line of a second elongated medical device having the second marking portion are identified;

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

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

[0019] In some implementations, generating prompts or control commands based on the relative position information includes:

[0020] When the end of the target guidewire is inside the target catheter and moves along the first direction, if the first relative position information is less than the preset first relative position information, a stop movement control command for controlling the target guidewire is generated and a first information prompt is output.

[0021] When the end of the target guidewire is outside the target catheter and moves along the first direction, there is no need to generate a prompt message or control command;

[0022] When the 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, a second information prompt is output.

[0023] When the end of the target guidewire moves within the target catheter 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 the user's operation selection instruction based on the third information prompt is obtained.

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

[0025] The control information prompting component outputs a third information prompt and acquires the contrast selection command input by the user based on the third information prompt, and generates a corresponding contrast operation control command in response to the acquired contrast selection command; or,

[0026] The control information prompting component outputs a third information prompt and obtains the consumable withdrawal selection instruction input by the user based on the third information prompt. In response to the obtained consumable withdrawal selection instruction, it generates a consumable withdrawal control instruction.

[0027] Secondly, this 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, it implements the steps of the interventional surgical robot control method as described above.

[0028] Thirdly, this 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, it implements the steps of the interventional surgical robot control method described above.

[0029] This application provides a control method for an interventional surgical robot, an interventional surgical robot, and a storage medium. The application acquires angiography images and identifies a first marker located at the end of a first elongated medical device and a second marker located at the end of a second elongated medical device in the angiography images. Based on the first and second markers, it determines a target second elongated medical device and a target first elongated medical device that are coaxial. It then determines the relative position information between the first marker at the end of the target first elongated medical device and the second marker at the end of the target second elongated medical device. Based on the relative position information, it generates prompts or control commands. By identifying the first and second markers displayed in the angiography images, and because the positional relationship between the first and second markers reflects the positional relationship between the target second elongated medical device and the target first elongated medical device, the application executes corresponding target operations based on the relative positional relationship between the first and second markers, such as outputting information prompts, thereby improving the intelligence of the interventional surgical robot. Attached Figure Description

[0030] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 A flowchart illustrating an interventional surgical robot control method provided in one embodiment of this application;

[0032] Figure 2 This is a schematic diagram of the structure of a catheter tip according to an embodiment of this application;

[0033] Figure 3 This is a schematic diagram of the structure of a guidewire end according to an embodiment of this application;

[0034] Figure 4 A flowchart illustrating the output information prompts provided in an embodiment of this application;

[0035] Figure 5 A flowchart illustrating the output information prompts provided in another embodiment of this application;

[0036] Figure 6 This is a schematic diagram of a first distance and a second distance provided in an embodiment of this application. Detailed Implementation

[0037] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0038] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0039] This application provides an interventional surgical robot control method, an interventional surgical robot, and a storage medium.

[0040] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0041] Please refer to Figure 1 , Figure 1 This is a flowchart illustrating an interventional surgical robot control method provided as an embodiment of this application. This interventional surgical robot control method can be used with vascular interventional surgical robots to determine the relative position between a first elongated medical device and a second elongated medical device based on angiographic images.

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

[0043] Step S101: Acquire angiography images and identify the first marker located at the end of the first elongated medical device and the second marker located at the end of the second elongated medical device in the angiography images.

[0044] For example, the angiography image can be a digital subtraction angiography (DSA) image, which is an angiography image obtained by digitizing X-ray images taken before and after contrast agent injection into a blood vessel, inputting them into an image computer, and performing subtraction, enhancement, and re-imaging processes. The angiography image in the interventional surgical robot control method provided in this application embodiment also includes a first marking portion at the end of a first elongated medical device and a second marking portion at the end of a second elongated medical device. The first and second marking portions can be displayed in the angiography image to identify the positions of the first and second elongated medical device ends in the angiography image based on the first and second marking portions.

[0045] Specifically, the first slender medical device can be a catheter; the second slender medical device can be a guidewire; step S101 can identify the first marking part located at the end of the catheter and the second marking part located at the end of the guidewire, but it is not limited to this and is not limited here.

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

[0047] Obtain the target region in the angiography image where the optical absorption rate is greater than the preset absorption rate;

[0048] The first marker portion is matched in the target area of ​​the angiography image based on a first preset shape, and the second marker portion is matched in the target area of ​​the angiography image based on a second preset shape.

[0049] Please refer to Figure 2 , 3 , Figure 2 This is a schematic diagram of the structure of a catheter tip according to an embodiment of this application; Figure 3 This is a schematic diagram of the structure of a guidewire end provided in an embodiment of this application.

[0050] like Figure 2 , 3 As shown, because the first and second marking parts 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 that of other locations at the catheter tip, and the optical absorption rate of the second marking part is greater than that of other locations at the guidewire tip, the first and second marking parts can absorb a certain amount of X-rays during angiography, thus appearing in the angiography image. Furthermore, the first and second marking parts have different sizes and shapes, thereby distinguishing the marking parts of different medical devices.

[0051] Specifically, a first preset shape corresponding to the first marker and a second preset shape corresponding to the second marker can be preset, so that the first marker is matched in the angiography image based on the first preset shape and the second marker is matched in the angiography image based on the second preset shape, thereby identifying the first marker and the second marker in the angiography image.

[0052] Step S102: Determine the first elongated target medical device and the second elongated target medical device in a coaxial state based on the first marking portion and the second marking portion.

[0053] For example, in the course of vascular interventional surgery, more than one guidewire or catheter may be used. In this case, the number of first and second marker portions in the angiography image is also more than one. The embodiments of this application apply to a first elongated medical device and a second elongated medical device. Since the first and second elongated medical devices are coaxial, the first and second marker portions are also coaxial. It is necessary to determine the target first elongated medical device and the target second elongated medical device that are coaxial based on whether the first and second marker portions are in a coaxial state.

[0054] In some embodiments, determining the first elongated medical device and the second elongated medical device in a coaxial state based on the first marking portion and the second marking portion includes:

[0055] In the angiography image, a first central extension line of a first elongated medical device having the first marking portion and a second central extension line of a second elongated medical device having the second marking portion are identified;

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

[0057] For example, 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 identified as the target catheter and the target guidewire.

[0058] For example, the first center extension line and the second center extension line are coaxial, which means that the first center extension line and the second center extension line are collinear, that is, the first center extension line and the second center extension line coincide or are parallel.

[0059] Specifically, the first slender medical device can be a catheter; the second slender medical device can be a guidewire; step S102 can be a catheter and a guidewire located therein, but it is not limited to these, and is not limited here.

[0060] Step S103: Determine the relative position information between the first marking part corresponding to the first elongated medical device and the second marking part corresponding to the second elongated medical device.

[0061] Specifically, the first elongated medical device can be a catheter; the second elongated medical device can be a guidewire. For example, acquiring the relative positional information between the first and second marking portions, since the first and second marking portions are located at the ends of the first and second elongated medical devices respectively, the positional relationship between the first and second marking portions in the angiography image can be used to determine the positional relationship between the first and second elongated medical devices, i.e., the positional relationship between the catheter and the guidewire, such as whether the guidewire end protrudes outside the catheter or is contained within it. The relative positional information may include the relative direction and relative distance between the first and second marking portions.

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

[0063] For example, the target guidewire can be advanced or retracted within the target catheter under the gripping of the interventional surgical robot from the end, such as extending the end of the guidewire through the catheter to perform a patency test in the patient's blood vessel; or retracting the guidewire through the catheter's protection to avoid damaging the patient's blood vessel.

[0064] For example, when the tip 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 tip of the guidewire is located inside the target catheter. When the tip 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 tip of the guidewire is located outside the target catheter.

[0065] Specifically, assuming that the relative direction between the first and second markers is represented by the sign of the numerical value, positive numbers can be used as the first relative position information and negative numbers as the second relative position information. Of course, this is not limited to this and will not be restricted here.

[0066] Step S104: Perform the corresponding target operation based on the relative position information.

[0067] For example, taking the first slender medical device end as the catheter end and the second slender medical device end as the guidewire end, the guidewire end can be in two states: inside the catheter or outside the catheter. When the guidewire end is exposed outside the catheter, it may cause injury to the patient. During vascular interventional surgery, special attention needs to be paid to the positional relationship between the guidewire end and the catheter. Performing the corresponding target operation could be to output a prompt when the guidewire end is close to the catheter end, such as when the guidewire end is about to enter or exit 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. However, this is not a limitation and is not specified here.

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

[0069] Step S114: When the end of the target guidewire is inside 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 the first information prompt.

[0070] Step S124: When the end of the target guidewire is outside the target catheter and moves along the first direction, the target operation does not need to be performed.

[0071] Step S134: When the 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 the second information prompt.

[0072] Step S144: When the end of the target guidewire is inside 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 the third information prompt and obtain the operation command input by the user based on the third information prompt.

[0073] For example, the first elongated medical device and the second elongated medical device can be displaced relative to each other in a first direction and a second direction. Specifically, the first direction is the direction of guidewire delivery and the second direction is the direction of guidewire retraction.

[0074] Please refer to Figure 4-5 , Figure 4A flowchart illustrating the output information prompts provided in an embodiment of this application; Figure 5 This is a flowchart illustrating the output information prompts provided in another embodiment of this application.

[0075] like Figure 4 As shown, step S114 includes steps S1141, S1142, and S1143. When the guidewire tip is inside the catheter, i.e., when there is first relative position information between the first and second marking portions, the guidewire may approach the catheter outlet during operation, causing the first relative position information to be 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 it, and control the guidewire to stop moving to prevent it from extending outside the catheter and causing injury to the patient without the operator's notice. Specifically, a first prompt message can be output to remind the operator that the guidewire is about to move outside the catheter, or a first prompt message can be output to allow the user to confirm whether to continue moving the guidewire. Step S114 may also include step S1144, where after outputting the first prompt message, the guidewire continues to move along the first direction until the guidewire tip enters outside the catheter.

[0076] like Figure 4 As shown, step S124 includes steps S1241 and S1242. As the guidewire moves in the first direction, the tip of the guidewire enters the target catheter. During the continued movement of the guidewire in the first direction, for example, while the guidewire continues to move in the first direction within the blood vessel, the operator needs to concentrate on the movement of the guidewire to avoid damaging the blood vessel. At this time, it is not necessary 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 steps S1341, S1342, and S1343. When the guidewire tip is outside the catheter, i.e., when there is second relative position information between the first and second marking portions, the guidewire may approach the catheter outlet during operation, causing the second relative position information to be 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 indicate to the operator that the guidewire is about to move into the catheter. Step S134 may also include step S1344, where after outputting the second prompt message, the guidewire continues to move along the second direction until the guidewire enters the catheter.

[0078] like Figure 4As shown, step S144 includes steps S1441, S1442, S1443, S1444, and S1445. If, after outputting the second information prompt, the guidewire continues to move in the second direction, allowing the guidewire to enter the catheter, a first relative position information will be established between the first marking part and the second marking part. When the end of the guidewire enters the catheter a certain distance, for example, if the first relative position information is less than the preset third relative position information, it indicates that the contrast agent can be injected into the catheter. At this time, a third information prompt is output to the operator to indicate that the contrast agent injection operation can be performed, or the third information prompt is used to confirm with the operator whether to perform the contrast agent injection operation.

[0079] In some embodiments, controlling the information prompting component to output a third information prompt and obtain the user's operation command based on the third information prompt includes:

[0080] The system controls the information prompting component to output a third information prompt and obtains the contrast command input by the user based on the third information prompt, and then executes the contrast agent injection operation; or,

[0081] The system controls the information prompting component to output a third information prompt and obtains the consumable withdrawal command input by the user based on the third information prompt, and controls the target catheter and / or the target guidewire to move in the second direction.

[0082] like Figure 4 As shown, step S1444 includes steps S1444a and S1444b; step S1445 includes steps S1445a and S1445b. During the process of the guidewire tip entering the catheter and continuing to move along the second direction within the catheter, if the guidewire tip moves into the catheter and the first relative position information between the first marking part and the second marking part is greater than the third information prompt, then contrast agent can be injected into the catheter, and the contrast agent injection operation can be performed based on the contrast command input by the user; alternatively, the guidewire can be controlled to continue moving until it is withdrawn, and the guidewire can be controlled to continue moving in the second direction until the guidewire or catheter is withdrawn, or the guidewire and catheter can be withdrawn together, based on the consumable withdrawal command input by the user. Specifically, the third information prompt can be an information prompt that allows the user to select between contrast command and consumable withdrawal command.

[0083] It is understandable that steps S1441-S1445 can be executed after steps S1341-S1344 or independently, and this is not limited here. Specifically, steps S1441-S1445 are executed after steps S1341-S1344, that is, the guidewire tip is initially located outside the catheter, and during the movement along the second direction, it moves into the catheter and continues to move along the second direction; steps S1441-S1445 are executed independently, that is, the guidewire tip is initially located inside the catheter and moves along the second direction within the catheter.

[0084] like Figure 5 As shown, if the guidewire advances within the catheter to a distance of less than 4 cm between the guidewire tip and the catheter tip, it indicates that the guidewire tip is about to extend out of the catheter. At this point, the guidewire is stopped and the first information prompt is output. If the guidewire retracts outside the catheter to a distance of less than 6 cm between the guidewire tip and the catheter tip, it indicates that the guidewire is about to enter the catheter, and the second information prompt is output. If the guidewire retracts into the catheter and the distance between the guidewire tip and the catheter tip is greater than 1 cm, it indicates that the guidewire has retracted to a reasonable distance, and the third information prompt can be output to perform the contrast agent injection procedure. For example, Figure 2 , 3 As shown, the guidewire tip and catheter tip refer to the tips of the guidewire end and catheter end, respectively. The information prompting component can be the display screen of the interventional surgical robot or other audio-visual prompting 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] Determine the pixel distance information between the first marker and the second marker in the angiography image;

[0087] There is a correspondence between the pixel distance information and the relative position information, and the relative position information is determined based on the correspondence.

[0088] For example, the pixel distance information between the first and second markers in the angiography image can reflect the actual relative position information between the first and second markers. Therefore, the relative position information can be determined based on 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 at a certain ratio, or the imaging device used to acquire the angiography image can be calibrated, and the pixel distance information in the image coordinate system can be transformed to the world coordinate system according to the intrinsic and extrinsic parameters of the imaging device to obtain the actual relative position information.

[0089] Specifically, before acquiring pixel distance information, the angiography image can be preprocessed. Known reference measurements (such as the pre-measured dimensions of the first and second markers) can be used to correct image distortion caused by perspective effects, restore the true size and shape of the first and second markers in the angiography image, and improve the accuracy of relative position information.

[0090] In other embodiments, determining the relative positional 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. Specifically, the first elongated medical device may be a catheter; the second elongated medical device may be a guidewire; including:

[0091] Obtain the first distance between the first marking portion and the catheter tip, and the 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 based on the first distance and the second distance.

[0093] For example, a first marking portion is located at the catheter tip, and there is a first distance between the first marking portion and the catheter tip; a second marking portion is located at the guidewire tip, and there is a second distance between the second marking portion and the guidewire end. 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 tip and the guidewire end. In actual operation, we are concerned with the distance between the catheter tip and the guidewire end; however, what we actually obtain 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 tip and the guidewire end based on the first distance, the second distance, and the relative distance between the first marking portion and the second marking portion; or, 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 when there is key relative position information between the catheter tip and the guidewire end, thereby obtaining preset values ​​for the first relative position information, the second relative position information, the 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 and third prompt messages issued when the guidewire tip is inside the catheter, the target distance difference is subtracted from the first distance value between the guidewire tip and the catheter tip when the first prompt message is to be output and the third distance value between the guidewire tip and the catheter tip when the third prompt message is to be output, to obtain preset first relative position information and preset third relative position information. For the second prompt message issued when the guidewire tip is outside the catheter, the target distance difference is added to the second distance value between the guidewire tip and the catheter tip when the second prompt message is to be output, to obtain preset second relative position information.

[0095] For example, if the first distance is 1cm and the second distance is 2cm, then the target distance difference is 2-1=(-1)cm. If the guidewire tip needs to output the first prompt information 1cm from the catheter tip inside the catheter, then the first relative position information when outputting the first prompt information is 1-(-1)=2cm, that is, 2cm 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 2cm; if the guidewire tip needs to output the second prompt information 4cm from the catheter tip outside the catheter, then the second relative position information when outputting the second prompt information is 4+(-1)=3cm, that is, 3cm 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 3cm, and so on.

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

[0097] For example, if the first distance and the second distance are equal, we can determine that when the first and second markings overlap, i.e., when the relative distance between the first and second markings is 0, the guidewire tip is exactly located at the catheter tip. However, if the first and second distances are not equal, for example, if the first distance between the first marking and the catheter tip is 2 cm and the second distance between the second marking and the guidewire tip is 3 cm, then when the distance between the first and second markings is 1 cm, the guidewire tip is exactly located at the catheter tip.

[0098] Similarly, the preset first relative position information, preset second relative position information, and preset third relative position information can be determined based on the first distance and the second distance. The preset first relative position information, preset second relative position information, and preset third relative position information are calculated based on the first distance and the second distance, and stored, instead of calculating the distance between the guidewire tip and the catheter tip each time based on the first distance and the second distance. This reduces the computational load of the interventional surgical robot control method. Furthermore, for different sizes of catheters and guidewires, different preset first relative position information, preset second relative position information, and preset third relative position information can be calculated separately based on different first distances and second distances, making this solution applicable to different sizes of catheters and guidewires and improving the flexibility of the interventional surgical robot control method.

[0099] In some embodiments, this application also provides an interventional surgical robot slave end, which is used to perform delivery or withdrawal operations on a first elongated medical device and / or a second elongated medical device, and to acquire angiographic images including the ends of the first and second elongated medical devices.

[0100] For example, the slave end of the interventional surgical robot is used to acquire control commands from the master end of the interventional surgical robot to control the movement of at least one of the guidewire and catheter. The slave end of the interventional surgical robot is also equipped with an angiography system for acquiring angiographic images.

[0101] In some embodiments, this 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, it implements the steps of the interventional surgical robot control method as described in any one of the embodiments of this application.

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

[0103] For example, the master end of the interventional surgical robot sends operation commands to the slave end of the interventional surgical robot, instructing the slave end to perform delivery or withdrawal operations on a first elongated medical device and / or a second elongated medical device; the feedback information from the slave end of the interventional surgical robot may include, for example, angiographic images.

[0104] For example, the interventional surgical robot is also equipped with an angiography system at the end for acquiring angiographic images.

[0105] For example, the interventional surgical robot slave end and the interventional surgical robot master end communicate with each other via wired or wireless means to transmit control commands and information prompts.

[0106] In some embodiments, this application also provides a computer-readable storage medium storing a computer program, wherein when executed by a processor, the computer program implements the steps of the interventional surgical robot control method as described in any one of the embodiments of this application.

[0107] The computer-readable storage medium may be an internal storage unit of the computer device described in the foregoing embodiments, such as the 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, SmartMedia Card (SMC), Secure Digital (SD) card, or Flash Card equipped on the computer device.

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

[0109] It should also be understood that the term "and / or" as used in this specification and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes such combinations. It should be noted that, herein, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0110] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. The above descriptions are merely specific implementations of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An interventional procedure robot control method, characterized by, The method, applied in interventional surgical robot systems, includes: Acquire angiography images and identify a first marker located at the end of a first elongated medical device and a second marker located at the end of a second elongated medical device in the angiography images; The first elongated medical device and the second elongated medical device are determined to be in a coaxial state based on the first marking part and the second marking part; Determine 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; Based on the relative position information, prompts or control commands are generated.

2. The interventional procedure robot control method according to claim 1, characterized in that, Determining 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 includes: Determine the pixel distance information between the first marker and the second marker in the angiography image; There is a correspondence between the pixel distance information and the relative position information, and the relative position information is determined based on the correspondence.

3. The method of claim 1, wherein, The identification of the first marker located at the end of the first slender medical device and the second marker located at the end of the second slender medical device in the angiography image includes: Obtain the target region in the angiography image where the optical absorption rate is greater than the preset absorption rate; The first marker portion is matched in the target region of the angiography image based on a first preset shape, and the second marker portion is matched in the target region of the angiography image based on a second preset shape.

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

5. The method of controlling an interventional robotic system according to any of claims 1-4, wherein, The first elongated medical device includes a catheter, and the second elongated medical device includes a guidewire; the target first elongated medical device includes a target catheter, and the target second elongated medical device includes a target guidewire.

6. The method of controlling an interventional surgical robot according to claim 5, wherein, When the end of the target guidewire is located inside the target catheter, there is a first relative position information between the first marking portion and the second marking portion; when the end of the target guidewire is located outside the target catheter, there is a second relative position information between the first marking portion and the second marking portion.

7. The method of controlling an interventional robotic system according to claim 6, wherein, The step of generating prompts or control commands based on the relative position information includes: When the end of the target guidewire is inside the target catheter and moves along the first direction, if the first relative position information is less than the preset first relative position information, a stop movement control command for controlling the target guidewire is generated and a first information prompt is output. When the end of the target guidewire is outside the target catheter and moves along the first direction, there is no need to generate a prompt message or control command; When the 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, a second information prompt is output. When the end of the target guidewire moves within the target catheter 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 selection command based on the third information prompt is obtained.

8. The method of controlling an interventional robotic system according to claim 7, wherein, The step of outputting a third information prompt and obtaining an operation selection instruction based on the third information prompt includes: The control information prompting component outputs the third information prompt and obtains the contrast selection instruction input based on the third information prompt, and generates a corresponding contrast operation control instruction in response to the obtained contrast selection instruction; or, The control information prompting component outputs the third information prompt and obtains the consumable withdrawal selection instruction input based on the third information prompt, and generates a consumable withdrawal control instruction in response to the obtained consumable withdrawal selection instruction.

9. An interventional procedure robot, characterized by 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, it implements the steps of the interventional surgical robot control method as described in any one of claims 1 to 8.

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, it implements the steps of the interventional surgical robot control method as described in any one of claims 1 to 8.

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