Instrument control method and system

Abstract

The invention relates to the technical field of interventional robots, and discloses an instrument control method and system.The method comprises the steps that based on a trigger signal, a first slender medical instrument is controlled to move in the specified moving direction; a visual image in the moving process is obtained in real time based on imaging equipment; identifying a real-time distance between a first positioning identifier on the first slender medical instrument and a second positioning identifier on the second slender medical instrument in the visual image based on an instrument endpoint positioning system; and generating a corresponding prompt signal based on the real-time interval. The position of the head end of the first slender medical instrument can be accurately judged, and delivery errors caused by material and process differences are reduced, so that the instrument delivery precision is remarkably improved, and the automation control degree is improved.

Description

Technical Field

[0001] The present application relates to the field of interventional robotics technology, and more specifically, to an instrument control method and system. Background Art

[0002] Existing interventional robotic guidewire automatic entry solutions usually rely on a pre-set catheter length and control the movement of the delivery device through a position closed-loop detection algorithm. However, there are large differences in materials and processes between guidewires of different brands and models, resulting in large errors in the calculation of the actual delivery distance. In addition, when doctors operate existing interventional robotic delivery devices, they cannot accurately grasp the length of the device delivery, especially when the device approaches the tip of the external catheter. They cannot stop the delivery or reduce the delivery speed in time, which can easily cause the device to rush out of the tip of the external catheter at a relatively fast speed, resulting in interventional risks.

[0003] Therefore, the calculation accuracy of the delivery distance in the existing medical device delivery process is insufficient, resulting in a low degree of automation in the intervention process and easy operational risks, which needs to be solved urgently. Summary of the invention

[0004] The main purpose of this application is to provide an instrument control method and system, which aims to solve the technical problems of insufficient calculation accuracy of delivery distance in the existing medical device delivery process, resulting in low automation of the intervention process and easy operational risks.

[0005] A first aspect of the present application provides an instrument control method, which is applied to an interventional robot delivery instrument, wherein the instrument comprises a first elongated medical instrument and a second elongated medical instrument, wherein the first elongated medical instrument moves in the second elongated medical instrument; the method comprises:

[0006] Based on the trigger signal, controlling the first elongated medical device to move in a specified moving direction;

[0007] Obtain visual images of the moving process in real time based on imaging equipment;

[0008] Identifying, based on an instrument endpoint positioning system, a real-time distance between a first positioning mark on the first elongated medical instrument and a second positioning mark on the second elongated medical instrument in the visualization image;

[0009] A corresponding prompt signal is generated based on the real-time spacing.

[0010] Furthermore, the step of controlling the first elongated medical device to move in a specified moving direction based on the trigger signal includes:

[0011] Based on the master end identifying the trigger signal, and determining the moving direction contained in the trigger signal;

[0012] Generate a corresponding control instruction based on the moving direction and send it to the slave end;

[0013] Based on the slave end, the first slender medical device is controlled to move in the corresponding moving direction.

[0014] Furthermore, the step of identifying, based on the instrument endpoint positioning system, a real-time distance between a first positioning mark on the first elongated medical instrument and a second positioning mark on the second elongated medical instrument in the visualized image comprises:

[0015] Receiving the visualized image from the imaging device based on the instrument endpoint positioning system, and identifying the first positioning mark and the second positioning mark in the visualized image;

[0016] Based on the identified position information of the first positioning marker and the second positioning marker, a real-time positioning analysis is performed to obtain a real-time distance between the first positioning marker and the second positioning marker.

[0017] Furthermore, the first positioning mark is arranged at the head end of the first slender medical device, and the second positioning mark is arranged at the head end of the second slender medical device.

[0018] Furthermore, the visualized image includes a DSA image.

[0019] Furthermore, the step of generating a corresponding prompt signal based on the real-time spacing includes:

[0020] Determining whether the real-time distance is less than a first preset distance;

[0021] If it is not less than the first preset distance, continue to judge;

[0022] If it is less than the first preset distance, determining the corresponding moving direction;

[0023] Determine the control mode in the current moving direction and generate corresponding prompt information.

[0024] Furthermore, the control mode includes an automatic control mode and a manual control mode; the step of determining the control mode in the current moving direction and generating corresponding prompt information includes:

[0025] If the current moving direction is a delivery direction, determining the control mode in the delivery direction;

[0026] If the control mode is the manual control mode, generating a first prompt message;

[0027] If the control mode is the automatic control mode, determining the execution state of the automatic control mode;

[0028] If it is in the executing state, a stop instruction is generated to control the slave end to stop the delivery, and a second prompt message is generated;

[0029] If the execution is suspended, a third prompt message is generated.

[0030] Furthermore, the control mode includes an automatic control mode and a manual control mode, and the step of determining the control mode in the current moving direction and generating corresponding prompt information further includes:

[0031] If the current moving direction is a backward direction, determining the control mode in the delivery direction;

[0032] If the control mode is the manual control mode, generating fourth prompt information;

[0033] If the control mode is the automatic control mode, determining the execution state of the automatic control mode;

[0034] If it is in the executing state, generating a corresponding control instruction to the slave end and generating a fifth prompt message;

[0035] If the execution is suspended, the sixth prompt message is generated.

[0036] The second aspect of the present application proposes an instrument automation control system, which adopts the instrument control method described in any one of the above claims.

[0037] Furthermore, the instrument automation control system comprises: a master end, a slave end, an instrument endpoint positioning system and an imaging device, wherein the master end is communicatively connected with the slave end, the instrument endpoint positioning system and the imaging device, and the instrument endpoint positioning system is also communicatively connected with the imaging device; wherein the master end is used to send a control instruction to the slave end, and control the first elongated medical device to move in the second elongated medical device through the slave end;

[0038] The instrument endpoint positioning system and the imaging device are started based on the startup instruction of the main end, wherein the imaging device is used to obtain the visual image during the movement process and transmit the visual image to the instrument endpoint positioning system, and the instrument endpoint positioning system performs positioning analysis based on the visual image and sends the analysis result to the main end.

[0039] A third aspect of the present application provides a computer device, comprising:

[0040] processor;

[0041] Memory for storing computer programs;

[0042] Wherein, when the processor executes the computer program, any one of the above-mentioned instrument control methods is implemented.

[0043] The fourth aspect of the present application proposes a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the device control method described in any one of the above is implemented.

[0044] Beneficial effects:

[0045] The present application obtains in real time the spacing distance between the instrument tip of a first elongated medical device (such as a guidewire or catheter) in the delivery direction relative to the instrument tip of a second elongated medical device (such as an external catheter), and the system can accurately control the delivery position of the first elongated medical device. Compared with the traditional method based on a preset length and position closed-loop detection algorithm, it can more accurately determine the position of the tip of the first elongated medical device, reduce the delivery error caused by material and process differences, and thus significantly improve the accuracy of device delivery. Real-time monitoring of the spacing distance between the tip of the first elongated medical device and the tip of the second elongated medical device during the delivery process facilitates comprehensive automated control and assists operators in accurately controlling the delivery process. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 This is a schematic diagram of the steps of a device control method according to an embodiment of the present application;

[0047] Figure 2 is a schematic structural diagram of a slave end when the first elongated medical device is a guide wire in one embodiment of the present application;

[0048] Figure 3 is a schematic diagram of the structure of the master end of an embodiment of the present application;

[0049] Figure 4 It is a schematic diagram of the composition of an instrument automation control system according to an embodiment of the present application;

[0050] Figure 5 is a schematic block diagram of the structure of a computer device according to an embodiment of the present application;

[0051] Among them, 1. external catheter; 2. guide wire; 3. first T valve; 4. delivery roller; 5. rotating roller; 6. second positioning mark; 7. first positioning mark; 20. automatic feed control button; 21. pause button; 22. first control lever; 23. second control lever;

[0052] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0054] It will be appreciated by those skilled in the art that, unless expressly stated, the singular forms "one", "above", and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present application refers to the presence of features, integers, steps, operations, elements, modules, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, modules, components, and / or groups thereof. It should be understood that when an element is said to be "connected" or "coupled" to another element, it may be directly connected or coupled to the other element, or there may also be an intermediate element. In addition, the "connection" or "coupling" used herein may include wireless connection or wireless coupling. The term "and / or" used herein includes all or any module and all combinations of one or more associated listed items.

[0055] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as those generally understood by those skilled in the art to which this application belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with those in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless specifically defined as here.

[0056] Reference Figure 1 - Figure 3 The present application provides an instrument control method for an interventional robot delivery instrument, wherein the instrument comprises a first elongated medical instrument and a second elongated medical instrument; wherein the first elongated medical instrument moves in the second elongated medical instrument; and comprises:

[0057] S1. Based on a trigger signal, controlling the first elongated medical device to move in a specified moving direction;

[0058] S2, obtaining visual images in real time during movement based on imaging equipment;

[0059] S3. Identify, based on the instrument endpoint positioning system, a real-time distance between the first positioning mark 7 on the first slender medical instrument and the second positioning mark 6 on the second slender medical instrument in the visualized image.

[0060] S4. Generate a corresponding prompt signal based on the real-time distance.

[0061] In this embodiment, the doctor issues a control instruction through the operating end (master end), such as pressing the "automatic advance control button 20" or the "automatic retreat control button" to perform movement control (automatic control mode); or manually controls the control rod to move, wherein the control rod includes a first control rod 22 (catheter control rod, which is used for manual control when the first slender medical device is a catheter or a quick delivery device) and a second control rod 23 (guidewire control rod, which is used for manual control when the first slender medical device is a guidewire) to perform movement control (manual control mode). The master end sends the control instruction to the instrument control end (slave end) through the communication network. After receiving the control instruction, the slave end parses the instruction content and determines the action to be performed. For the "automatic advance" instruction, the slave end activates the delivery roller 4 to deliver the first slender medical device in the specified moving direction. For the "automatic retreat" instruction, the slave end activates the delivery roller 4 to retreat the first slender medical device in the specified moving direction. For manual control instructions, the slave end controls the delivery roller 4 to rotate forward or backward according to the doctor's operation (such as manually controlling the joystick to push left to represent the delivery direction, and pulling right to represent the backward direction), so as to deliver the first slender medical device into or out of the second slender medical device (external catheter 1).

[0062] After receiving the trigger signal, this embodiment starts the instrument endpoint positioning system and the imaging device at the same time, wherein the imaging device, such as DSA (digital subtraction angiography), when it is recognized that the movement direction of the first slender medical device is the delivery direction, the instrument endpoint positioning system obtains an X-ray transmission image through DSA, or other images that can determine the position of the device in the patient's body during the intervention process, such as three-dimensional reconstruction images, multimodal fusion images, intraoperative visual navigation, etc. These images contain image information of the second slender medical device (external catheter 1) and the first slender medical device (such as guide wire 2, catheter or fast delivery device), and the acquired image data is transmitted to the main end through the communication network for processing. The acquired image is pre-processed, such as denoising, enhancement, etc., to improve the image quality. Through image processing technology, the position information of the second positioning mark 6 (developing ring) set on the head end of the second slender medical device and the first positioning mark 7 (developing segment) set on the head end of the first slender medical device is identified. The device endpoint positioning system analyzes the position of the head end of the first elongated medical device relative to the head end of the external catheter 1 in real time based on the identified imaging mark, ensuring real-time judgment of the delivery progress of the first elongated medical device in the external catheter 1. For example, when the head end of the first elongated medical device is 10 cm away from the head end of the external catheter 1 to the first preset distance, the system will send a signal to the main end to prompt that the head end of the external catheter 1 is about to be delivered. The value of the first preset distance can be set according to actual operation requirements.

[0063] For example, after the user issues a control instruction through the main end, the main end first identifies and analyzes the trigger signal to determine the user's desired moving direction. If the analysis result shows that the user has selected the "automatic advance control button 20" or the manual control lever is pushed in the delivery direction, the system determines that the current moving direction is the delivery direction. The system will immediately start the instrument endpoint positioning system and related imaging equipment, such as a digital subtraction angiography machine (DSA). These devices will acquire image information containing the first slender medical device and the second slender medical device in real time. Through image processing technology, the system can identify and extract the position information of the development marks at the two instrument heads, such as the first positioning mark 7 (development segment) and the second positioning mark 6 (development ring). These position information will be transmitted to the main end in real time for processing and analysis. It is intended to ensure precise control and real-time monitoring in the delivery direction and improve the safety and accuracy of the operation. By performing real-time position monitoring in the delivery direction, the system can promptly discover and deal with potential risks, avoid the instrument from entering the non-target area, and improve the overall operation efficiency and safety.

[0064] In the identification and positioning process, the direction where the second positioning mark 6 is located is used as the positive direction for positioning reference, that is, in the delivery process, the real-time moving distance here refers to the value generated by the positive movement of the first positioning mark relative to the second positioning mark 6, that is, the positive distance value; the distance value corresponding to the negative movement is not included. That is, in the delivery direction, when the first positioning mark 7 has left the head end of the second slender medical device, the first positioning mark 7 starts to make a negative movement relative to the second positioning mark 6. In the delivery process, the distance corresponding to the negative movement of the first positioning mark 7 is not included in the real-time moving distance.

[0065] If the current moving direction is the delivery direction, if in manual control mode, assuming that the first slender medical device is a guide wire 2, when the guide wire 2 tip (first positioning mark 7) is 10 cm away from the external catheter 1 tip (second positioning mark 6), the main end displays a prompt message to the doctor, such as "guide wire 2 is about to exit the external catheter 1 tip" or "guide wire 2 has been delivered to the predetermined position", etc., to remind the doctor to take corresponding measures. If it is in automatic control mode, then when it is recognized that the tip of the first slender medical device is at a preset distance from the tip of the external catheter 1, the device operating end will be automatically controlled to stop the delivery process, and then generate a corresponding prompt, such as: "guide wire 2 has completed delivery" or "guide wire 2 is about to exit the tip of the external catheter 1", etc.

[0066] If the current moving direction is the backward direction, in the identification and positioning process, the direction of the second positioning mark 6 is used as the positive direction for positioning reference, that is, if the first slender medical device is moving toward the second positioning mark during the backward process, it is a positive movement, and a positive distance value is generated. If the first slender medical device is moving in a direction away from the second positioning mark 6 during the backward process, it is a negative movement, and a negative distance value is generated. Then, when the positive distance value is less than the first preset distance (assuming it is 2 cm), a prompt message is generated at this time. For example, in the manual control mode, "The head end of the external catheter 1 has been reached, and automatic control can be started" is generated, and the doctor is reminded to switch the control mode for automatic control. If it is in the automatic control mode, "About to enter the external catheter 1, whether to switch the delivery speed" or other instructions are sent; or based on the preset program, directly switch to the corresponding delivery speed or generate corresponding control instructions based on other preset delivery parameters to automatically control the delivery effect.

[0067] Furthermore, if the head end of the first slender medical device has entered the interior of the second slender medical device during the retreat process, that is, the first positioning mark 7 has begun to make negative movement relative to the second positioning mark 6. At this time, the negative distance value generated by the first positioning mark 7 relative to the second positioning mark 6 in the negative direction is obtained according to the positioning analysis, and combined with the catheter length of the second slender medical device, it is calculated whether it is about to completely exit the external catheter 1, and when the preset negative distance interval is reached, a prompt is generated that the second slender medical device is about to completely exit.

[0068] In addition, during the automated control process, the pause command sent by the user will be received in real time. The user can send corresponding commands on the operating end through the pause button 21 or the like. After receiving the corresponding control command from the end, the movement of the delivery roller 4 is controlled to perform the corresponding stop action.

[0069] Through this embodiment, the present application can achieve precise control and positioning of slender instruments, significantly improving the safety and efficiency during operation. Specifically, this method can not only effectively avoid the risk of instruments entering non-target areas due to improper operation, but also reduce the burden on operators, making the entire process smoother. In addition, combined with the application of digital subtraction technology or other imaging technologies, real-time visual monitoring can be achieved, which is particularly important for delicate operations. For example, in application scenarios that require high-precision operations, the system can more accurately control the instrument to reach the target position, facilitate the automation of instrument delivery, and give operators precise operating instructions, which helps prevent potential mistakes and ensure the safety of operations.

[0070] In one embodiment, the step of controlling the first elongated medical device to move in a specified moving direction based on the trigger signal comprises:

[0071] S10, identifying the trigger signal based on the master end, and determining the moving direction contained in the trigger signal;

[0072] S11, generating a corresponding control instruction based on the moving direction and sending it to the slave end;

[0073] S12: Control the first slender medical device to move in the corresponding moving direction based on the slave end.

[0074] In this embodiment, the master device receives a trigger signal from the operator through its interface, which may be generated by clicking the "automatic forward control button 20" or the "automatic backward control button", or by manually pushing the corresponding control rod, such as pushing the second control rod 23 to control the first slender medical device of the guide wire to move. After receiving these signals, the master device will identify and analyze them to determine the user's desired direction of movement, that is, forward delivery or backward exit. This process ensures the accurate communication of the user's intention and lays the foundation for subsequent precise control. The master generates corresponding control instructions according to the identified direction of movement. These control instructions are transmitted to the slave device through a pre-established communication network. The control instructions contain specific action requirements, such as delivery direction, speed and other parameters, to ensure that the slave can accurately execute the user's operation intention. The design of this link realizes efficient collaborative work between the master and the slave, and ensures the rapid transmission and accurate execution of control signals. After receiving the control instruction, the slave will immediately analyze the instruction content and activate the corresponding drive device, such as the delivery roller 4, so that the first slender medical device moves in the specified direction. In the automatic control mode, the slave end will automatically adjust the delivery speed according to the preset program to ensure that the device can reach the target position smoothly and accurately. In the manual control mode, the slave end will adjust the speed of the delivery roller 4 in real time according to the speed and direction information transmitted by the operator through the control lever to achieve flexible control.

[0075] In one embodiment, the step of identifying the real-time distance between the first positioning mark 7 on the first elongated medical device and the second positioning mark 6 on the second elongated medical device in the visualized image based on the device endpoint positioning system comprises:

[0076] S20, receiving a visualized image from an imaging device based on an instrument endpoint positioning system, and identifying the first positioning mark 7 and the second positioning mark 6 in the visualized image; wherein the first positioning mark 7 is set at the head end of the first slender medical instrument, and the second positioning mark 6 is set at the head end of the second slender medical instrument;

[0077] S21. Based on the identified position information of the first positioning mark 7 and the second positioning mark 6, a real-time positioning analysis is performed to obtain a real-time distance between the first positioning mark 7 and the second positioning mark 6.

[0078] In one embodiment, when the system determines that the current moving direction is the delivery direction, the device endpoint positioning system will start and control the digital subtraction angiography machine (DSA) or other imaging equipment to obtain an X-ray transmission image containing the first slender medical device and the second slender medical device. These images can clearly display the development mark of the device head end, providing basic data for subsequent position analysis. For example, the visual image includes a DSA image, and the system pre-processes the acquired DSA image through image processing technology, such as denoising, enhancement, etc., to improve the image quality. Subsequently, the system uses an image recognition algorithm to identify the first positioning mark 7 (development segment) on the head end of the first slender medical device and the second positioning mark 6 (development ring) on ​​the head end of the second slender medical device. These positioning marks are usually shown as obvious high-contrast areas in the image, which facilitates accurate recognition by the system. The interval distance between the second head end positioning mark and the first head end positioning mark is identified in real time. The system calculates the interval distance between the first positioning mark 7 and the second positioning mark 6 based on the position information of the identified first positioning mark 7 and the second positioning mark 6. This calculation is performed in real time to ensure that the system can dynamically track the relative position of the device head end. When the head end of the first slender medical device reaches a preset distance (e.g., 10 cm) from the head end of the second slender medical device, the system will generate a corresponding prompt signal to inform the operator of the current position status of the device. This embodiment aims to ensure precise control and real-time monitoring in the delivery direction through real-time device endpoint positioning and distance calculation. This method not only improves the accuracy of the operation, but also improves the efficiency and safety of the overall operation. It is suitable for various types of precision operations and has broad application prospects.

[0079] In one embodiment, the step of generating a corresponding prompt signal based on the real-time spacing includes:

[0080] S30, determining whether the real-time distance is less than a first preset distance;

[0081] S31, if it is not less than the first preset distance, continue to judge;

[0082] S32, if it is less than the first preset distance, determining the corresponding moving direction;

[0083] S33, determining the control mode in the current moving direction, and generating corresponding prompt information.

[0084] In this embodiment, after the system calculates and updates the interval distance between the head end of the first slender medical device and the head end of the second slender medical device in real time, the system compares the interval distance with the preset first distance. The first preset distance is a key parameter used to determine whether the head end of the device is close to the target position. For example, the first preset distance can be set to 10 cm. If the system detects that the interval distance is less than the first preset distance (for example, 10 cm), it further determines the current moving direction, and then determines whether the operation mode in the current moving direction is automatic control mode or manual control mode. This judgment is determined by the trigger signal received by the main end. Among them, if the user selects the "automatic control button 20", the system is in automatic control mode; if the user manually pushes the control lever, the system is in manual control mode. Based on different modes, corresponding personalized prompts will be generated.

[0085] In one embodiment, the control mode includes an automatic control mode and a manual control mode; the step of determining the control mode in the current moving direction and generating corresponding prompt information includes:

[0086] S40, if the current moving direction is a delivery direction, determining the control mode in the delivery direction;

[0087] S41, if the control mode is the manual control mode, generating first prompt information;

[0088] S42: If the control mode is the automatic control mode, determine the execution state of the automatic control mode;

[0089] S43, if it is in the executing state, generating a stop instruction to control the slave end to stop delivery, and generating a second prompt message;

[0090] S44: If the execution is suspended, generate a third prompt message.

[0091] In this embodiment, the master-end device receives a trigger signal from the operator through its interface, and the trigger signal can be by clicking the "automatic advance control button 20" (automatic control instruction) or by manually pushing the control lever (manual control instruction). After receiving these signals, the master-end device will identify and analyze them to determine the control mode desired by the user. If the current control mode is manual control mode, the system will generate a first prompt message, such as "guide wire 2 is about to exit the head end of the external catheter 1" or "guide wire 2 has been delivered to the predetermined position." These prompt messages will be displayed on the master end to remind the operator of the current position status of the instrument so that the operator can manually adjust the delivery speed or stop delivery.

[0092] In the automatic control mode, the system will continuously monitor the current execution state to determine whether the delivery operation is currently being performed or has been suspended. This judgment is determined by the trigger signal received by the master end and the state variables inside the system. If the system determines that the current automatic control mode is in the execution state, and detects that the distance between the head end of the first slender medical device and the head end of the second slender medical device is less than the first preset distance (for example, 10 cm), the system will automatically generate a stop instruction to control the slave end to stop the rotation of the delivery roller 4, so that the first slender medical device stops moving. At the same time, the system will generate a second prompt message, such as "guidewire 2 has completed delivery", and display it on the master end to remind the operator of the current position status of the device. If the system determines that the current automatic control mode is in the suspended execution state, the system directly sends a third prompt message when it determines whether the interval distance is less than the first preset distance, such as "guidewire 2 is about to come out of the head end of the external catheter 1" or "guidewire 2 has been delivered to the predetermined position", and displays it on the master end to remind the operator of the current status of the device.

[0093] The "pause execution state" is when the user clicks the pause button 21 through the master interface in the automatic control mode to issue a pause command. The master recognizes and parses the pause command, and sends the pause command to the slave through the communication network. The slave stops the automatic delivery control of the first slender medical device, and feeds back the pause state to the master, and waits for the user's "continue execution command" to be received, and then performs automatic delivery control based on the current position again. The "continue execution command" can be implemented by the user through the corresponding button, including the "automatic feed control button 20" and the like.

[0094] In one embodiment, the control mode includes an automatic control mode and a manual control mode; the step of determining the control mode in the current moving direction and generating corresponding prompt information further includes:

[0095] S50, if the current moving direction is a backward direction, determining the control mode in the delivery direction;

[0096] S51, if the control mode is the manual control mode, generating fourth prompt information;

[0097] S52: If the control mode is the automatic control mode, determine the execution state of the automatic control mode;

[0098] S53, if it is in the executing state, generating a corresponding control instruction to the slave end, and generating a fifth prompt message;

[0099] S54: If the execution is suspended, generate a sixth prompt message.

[0100] In this embodiment, if the current moving direction is the backward direction, in the identification and positioning process, the direction where the second positioning mark 6 is located is used as the positive direction for positioning reference, that is, when the first slender medical device is in the backward process, if it moves toward the second positioning mark 6, it is a positive movement, and a positive distance value is generated. Then when the positive distance value is less than the first preset distance (assuming it is 2 cm), a prompt message is generated at this time, for example, in the manual control mode, a fourth prompt message such as "has reached the head end of the external catheter 1, and can start automatic control" is generated, and the doctor is reminded that the control mode can be switched to automatic control. If or in the automatic control mode, the current execution state is judged. If it is in the execution state, based on the preset program, it directly switches to the corresponding delivery speed or generates corresponding control instructions based on other preset delivery parameters to automatically control the delivery effect, and generates corresponding prompt information, such as the fifth prompt information of "reached the head end of the external catheter 1, and has been moved and adjusted according to the preset parameters". If it is in the paused execution state, a sixth prompt message of "has reached the head end of the external catheter 1, and can start automatic control" or other prompt content is generated, and the user's switching operation is recognized at the same time, and the corresponding control mode is switched.

[0101] Furthermore, if the head end of the first slender medical device has entered the interior of the second slender medical device during the retreat process, that is, the first positioning mark 7 has begun to make negative movement relative to the second positioning mark 6. At this time, the negative distance value generated by the first positioning mark 7 relative to the second positioning mark 6 in the negative direction is obtained according to the positioning analysis, and combined with the catheter length of the second slender medical device, it is calculated whether it is about to completely exit the external catheter 1, and when the preset negative distance interval is reached, a prompt is generated that the second slender medical device is about to completely exit.

[0102] In one embodiment, the slave end of the interventional robot includes a first T-valve 3, a delivery module and an interventional robot delivery instrument, and the instrument includes a first slender medical instrument and a second slender medical instrument; the second slender medical instrument is connected to one side of the first T-valve 3, and the delivery module is used to deliver the first slender medical instrument to move in the second slender medical instrument.

[0103] In this embodiment, the first T-valve 3 is a three-way valve. One side of the first T-valve 3 is connected to the second elongated medical device, and the opposite side is used to support the first elongated medical device (guidewire 2, catheter or quick delivery device) to pass smoothly and enter the second elongated medical device (external catheter 1).

[0104] like Figure 2As shown, when the first elongated medical device is a guide wire 2, the delivery module includes a delivery roller 4 and a rotating roller 5 for controlling the delivery and rotation of the guide wire 2. The delivery roller 4 is responsible for delivering the guide wire 2 along the axial direction of the device, while the rotating roller 5 is responsible for controlling the rotation of the guide wire 2 to ensure that the guide wire 2 can smoothly enter the interior of the external catheter 1. The guide wire 2 is located in the delivery module and is ready to enter the external catheter 1 through the first T valve 3. At this time, if a trigger signal is recognized, the master end recognizes and parses the instruction and determines that the user wants to start the automatic control mode. The master end sends the control instruction to the slave end through the communication network. After receiving the control instruction, the slave end activates the delivery roller 4 to make the guide wire 2 start to move in the specified moving direction. The delivery roller 4 delivers the guide wire 2 along the axial direction of the device so that it passes through the first T valve 3 and enters the interior of the external catheter 1. The rotating roller 5 controls the rotation of the guide wire 2 as needed to ensure that the guide wire 2 can smoothly enter the interior of the external catheter 1 to avoid jamming or entanglement. The system starts the device endpoint positioning system and DSA to obtain an X-ray transmission image containing the first slender medical device and the second slender medical device. Through image processing technology, the system identifies the first positioning mark 7 (developing segment) on the tip of the guide wire 2 and the second positioning mark 6 (developing ring) on ​​the tip of the external catheter 1. The system calculates the distance between the two in real time. If the system detects that the distance between the first positioning mark 7 and the tip of the second positioning mark 6 is less than a first preset distance (for example, 10 cm), the system will generate a stop command to control the slave end to stop the rotation of the delivery roller 4, so that the guide wire 2 stops moving.

[0105] Reference Figure 4 In one embodiment, an instrument automation control system is also proposed to implement the above-mentioned instrument control method.

[0106] In this embodiment, the instrument automation control system includes: a master end, a slave end, an instrument endpoint positioning system and an imaging device, wherein the master end is communicatively connected with the slave end, the instrument endpoint positioning system and the imaging device, and the instrument endpoint positioning system is also communicatively connected with the imaging device; wherein the master end is used to send a control instruction to the slave end, and control the first elongated medical device to move in the second elongated medical device through the slave end;

[0107] The instrument endpoint positioning system and the imaging device are started based on the startup instruction of the main end, wherein the imaging device is used to obtain the visual image during the movement process and transmit the visual image to the instrument endpoint positioning system, and the instrument endpoint positioning system performs positioning analysis based on the visual image and sends the analysis result to the main end.

[0108] In this embodiment, the master end is connected to the slave end, the instrument endpoint positioning system and the imaging device through a network or a dedicated data line. The master end is the main interface for user operation, which is used to send control instructions to the slave end to control the slave end to move the first slender medical device (such as the guide wire 2). The master end also receives the analysis results from the instrument endpoint positioning system and makes judgments and decisions based on these results. The slave end is the part that performs the actual control action, including the first T valve 3 and the delivery module, the first T valve 3 is connected to the second slender medical device on one side, and the delivery module is used to deliver the first slender medical device through the first T valve 3 to the inside of the second slender medical device. The imaging device (such as a digital subtraction angiography machine, referred to as DSA) is used to obtain the visual images of the first slender medical device and the second slender medical device in real time during the intervention process. The imaging device transmits these images to the instrument endpoint positioning system for positioning analysis. The instrument endpoint positioning system is responsible for processing and analyzing the visual images provided by the imaging device, identifying and locating the endpoint positions of the first slender medical device (such as the guide wire 2) and the second slender medical device (such as the external catheter 1). The system sends the analysis results back to the master end for further control and decision-making.

[0109] First, the doctor sends a start command at the master end, and the master end transmits the start command to the instrument endpoint positioning system and the imaging device through the network or a dedicated data line to start the operation of the two. After receiving the start command, the imaging device (such as a digital subtraction angiography machine, DSA) starts to collect X-ray images of the surgical area in real time, and transmits the images to the instrument endpoint positioning system through a high-speed network or a dedicated data line. After receiving the image, the instrument endpoint positioning system uses image recognition and processing technology to identify the positions of the first positioning mark 7 and the second positioning mark 6, performs real-time endpoint positioning analysis, and calculates the relative position and movement distance of the first slender medical device and the second slender medical device. Then, the instrument endpoint positioning system transmits the analysis results back to the master end through the network or a dedicated data line. The master end generates a control instruction (or generates a control instruction according to the user's instruction) based on the received analysis results and the current movement state of the device, and transmits the control instruction to the slave end through the network or a dedicated data line. After receiving the control instruction, the slave end controls the movement of the first slender medical device (such as a guide wire 2). After the image analysis results of the instrument endpoint positioning system are transmitted to the master end, when the master end determines that the first positioning mark 7 is a certain distance away from the second positioning mark 6, it generates corresponding prompt information and displays relevant information on the interface to remind the user to pay attention to the current position of the instrument to prevent the instrument from rushing out of the catheter tip too quickly and causing risks such as vascular damage, or control the slave end to stop the operation. Through this series of steps, the system realizes the automation of the process from image acquisition, processing and analysis to control execution, ensuring the precise control and safe operation of the instrument during the operation.

[0110] Reference Figure 5 In an embodiment of the present application, a computer device is also provided. The computer device may be a server, and its internal structure may be as follows: Figure 5 As shown. The computer device includes a processor, a memory, a network interface and a database connected by a bus. Among them, the processor designed by the computer is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores operations, computer programs and databases. The memory provides an environment for the operation of the operations and computer programs in the non-volatile storage medium. The database of the computer device is used to store data such as instrument control methods. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, an instrument control method is implemented, which is applied to an interventional robot delivery instrument, the instrument includes a first slender medical instrument and a second slender medical instrument, wherein the first slender medical instrument moves in the second slender medical instrument; including the steps of: based on a trigger signal, controlling the first slender medical instrument to move in a specified moving direction; based on an imaging device to obtain a visual image in real time during the movement; based on an instrument endpoint positioning system, identifying the real-time spacing of the first positioning mark on the first slender medical instrument relative to the second positioning mark on the second slender medical instrument in the visual image; and generating a corresponding prompt signal based on the real-time spacing.

[0111] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, an instrument control method is implemented, which is applied to an interventional robot delivery instrument, wherein the instrument comprises a first slender medical instrument and a second slender medical instrument, wherein the first slender medical instrument moves in the second slender medical instrument, and the method comprises the following steps: based on a trigger signal, controlling the first slender medical instrument to move in a specified moving direction; based on an imaging device, acquiring a visual image during the movement process in real time; based on an instrument endpoint positioning system, identifying the real-time spacing of a first positioning mark on the first slender medical instrument relative to a second positioning mark on the second slender medical instrument in the visual image; and generating a corresponding prompt signal based on the real-time spacing.

[0112] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media provided in the present application and used in the embodiments can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double-speed data rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0113] The above description is only a preferred embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. An instrument control method, applied to an interventional robotic delivery instrument, the instrument comprising a first elongated medical instrument and a second elongated medical instrument, wherein the first elongated medical instrument moves in the second elongated medical instrument; characterized in that: include: Based on the trigger signal, controlling the first elongated medical device to move in a specified moving direction; Obtain visual images of the moving process in real time based on imaging equipment; Identifying, based on an instrument endpoint positioning system, a real-time distance between a first positioning mark on the first elongated medical instrument and a second positioning mark on the second elongated medical instrument in the visualization image; A corresponding prompt signal is generated based on the real-time spacing.

2. The device control method according to claim 1, characterized in that: The step of controlling the first elongated medical device to move in a specified moving direction based on the trigger signal comprises: Based on the master end identifying the trigger signal, and determining the moving direction contained in the trigger signal; Generate a corresponding control instruction based on the moving direction and send it to the slave end; The first elongated medical device is controlled to move in the corresponding moving direction based on the slave end.

3. The device control method according to claim 1, characterized in that: The step of identifying the real-time distance between the first positioning mark on the first elongated medical device and the second positioning mark on the second elongated medical device in the visualized image based on the device endpoint positioning system comprises: Receiving the visualized image from the imaging device based on the instrument endpoint positioning system, and identifying the first positioning mark and the second positioning mark in the visualized image; Based on the identified position information of the first positioning marker and the second positioning marker, a real-time positioning analysis is performed to obtain a real-time distance between the first positioning marker and the second positioning marker.

4. The device control method according to claim 1, characterized in that: The first positioning mark is arranged at the head end of the first slender medical device, and the second positioning mark is arranged at the head end of the second slender medical device.

5. The device control method according to claim 1, characterized in that: The visualized image includes a DSA image.

6. The device control method according to claim 1, characterized in that: The step of generating a corresponding prompt signal based on the real-time spacing includes: Determining whether the real-time distance is less than a first preset distance; If it is not less than the first preset distance, continue to judge; If it is less than the first preset distance, determining the corresponding moving direction; Determine the control mode in the current moving direction and generate corresponding prompt information.

7. The device control method according to claim 6, characterized in that: The control mode includes an automatic control mode and a manual control mode; The step of determining the control mode in the current moving direction and generating corresponding prompt information comprises: If the current moving direction is a delivery direction, determining the control mode in the delivery direction; If the control mode is the manual control mode, generating a first prompt message; If the control mode is the automatic control mode, determining the execution state of the automatic control mode; If it is in the executing state, a stop instruction is generated to control the slave end to stop the delivery, and a second prompt message is generated; If the execution is suspended, a third prompt message is generated.

8. The device control method according to claim 6, characterized in that: The control mode includes an automatic control mode and a manual control mode; The step of determining the control mode in the current moving direction and generating corresponding prompt information also includes: If the current moving direction is a backward direction, determining the control mode in the delivery direction; If the control mode is the manual control mode, generating fourth prompt information; If the control mode is the automatic control mode, determining the execution state of the automatic control mode; If it is in the executing state, generating a corresponding control instruction to the slave end and generating a fifth prompt message; If the execution is suspended, the sixth prompt message is generated.

9. An automatic control system for an instrument, characterized in that: Adopt the device control method described in any one of claims 1-8.

10. The instrument automation control system according to claim 9, characterized in that: The instrument automation control system comprises: a master end, a slave end, an instrument endpoint positioning system and an imaging device, wherein the master end is communicatively connected with the slave end, the instrument endpoint positioning system and the imaging device, and the instrument endpoint positioning system is also communicatively connected with the imaging device; wherein the master end is used to send a control instruction to the slave end, and control the first elongated medical device to move in the second elongated medical device through the slave end; The instrument endpoint positioning system and the imaging device are started based on the startup instruction of the main end, wherein the imaging device is used to obtain the visual image during the movement process and transmit the visual image to the instrument endpoint positioning system, and the instrument endpoint positioning system performs positioning analysis based on the visual image and sends the analysis result to the main end.

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