Robot driver end, position detection method and apparatus for an elongated

Abstract

The invention belongs to the field of digital medical treatment, and discloses a robot driver end and a position detection method and device for a slender medical instrument. According to the method for detecting the position of the slender medical instrument, firstly, a photoelectric transmitting end matrix and a photoelectric receiving end matrix are arranged on the two opposite sides of a delivery path, photoelectric receiving ends are used for collecting photoelectric signal values, and an array is formed; and then calculating a discrete deviation value of the array to judge the stability of the signal so as to determine whether the array is continuously used for detection or not. If so, calculating a deviation value with the reference photoelectric signal value, and finally determining the position of the medical instrument based on the deviation value. The position of the slender medical instrument can be more accurately determined, errors are reduced, more accurate position information is provided for medical operation, and the efficiency and safety of the medical operation such as an operation can be improved.

Description

Technical Field

[0001] The present invention relates to the field of digital medicine, and in particular to a method and device for detecting the position of a robot driver end and a slender medical device. Background Art

[0002] With the development of medical technology, the status of interventional surgical robots in clinical applications has become increasingly prominent. However, in practical applications, especially in complex vascular interventional surgeries, the limitations of robotic systems have gradually emerged. At present, when doctors perform such operations, they usually need to frequently deliver or withdraw instruments such as catheters and guidewires. Since doctors are usually located at the end of the operating table, they cannot directly see the specific position status of the instruments in the operating room at the end of the robot driver, which leads to the so-called "blind operation" phenomenon. For example, during the 1G1S angiography operation, after the angiography guidewire delivers the angiography catheter to the designated position in the patient's body, the angiography guidewire needs to be withdrawn from the body through a power device. During this process, the doctor or surgical assistant must observe the movement of the guidewire throughout the process until it is confirmed that the guidewire is completely withdrawn from the valve body. Once the withdrawal is completed, if the operation needs to be continued, the guidewire needs to be inserted into the valve body again. This process is not only time-consuming, but also increases the complexity of the surgical operation and the risk of instrument contamination.

[0003] In addition, during the guidewire delivery process, it is difficult for doctors to always pay attention to the position of the tail end of the guidewire due to its limited length and relatively soft head. If the guidewire is delivered by rollers or other methods, it is easy for the guidewire to exceed the control range of the power device, forcing the operation to be suspended for adjustment. Such operations not only prolong the operation time, but also increase the patient's discomfort and the doctor's workload.

[0004] The existence of the above problems means that although interventional surgical robots are efficient, safe and precise, they have not been able to fully utilize their due advantages in actual applications. The frequent installation and disassembly of instruments during the operation increases the doctor's operating burden and the patient's operation time; during the operation, assistants are required to wear lead clothes in the operating room to monitor the operation status of the machine, which not only increases labor costs but also increases work intensity; during the operation of the instrument, it may contact the ground and other non-sterile environments, which poses a high risk of contamination; the position information of the instrument is missing, and some operations rely on manual intervention, which reduces the efficiency of the machine; coupled with the lack of intelligent operation of the machine, the doctor's learning curve is long, making the operation efficiency lower than expected. Therefore, it is particularly urgent to develop a device that can automatically detect the position status of interventional surgical instruments. Summary of the invention

[0005] The present invention provides a method and device for detecting the position of a robot driver end and a slender medical device, aiming to solve the technical problem that an interventional surgical robot cannot accurately position the device when operating the device.

[0006] In order to achieve the above-mentioned invention object, the first aspect of the present invention provides a method for detecting the position of a slender medical device, wherein a photoelectric emitting end and a photoelectric receiving end matrix are arranged on opposite sides of the delivery path of the slender medical device, the photoelectric receiving end matrix is ​​composed of a plurality of photoelectric receiving ends, and the area between the photoelectric emitting end and the photoelectric receiving end matrix is ​​a detection area;

[0007] The position detection method comprises the steps of:

[0008] Obtaining that each of the photoelectric receiving ends in the photoelectric receiving end matrix continuously collects N photoelectric signal values ​​emitted by the photoelectric emitting end according to a preset frequency, and obtaining a photoelectric signal array corresponding to each of the photoelectric receiving ends; wherein N is a positive integer greater than or equal to 2;

[0009] Calculating the discrete deviation value of each of the photoelectric signal arrays;

[0010] Determining whether to continue using the photoelectric signal array to detect the position of the elongated medical device based on the discrete deviation value of each of the photoelectric signal arrays;

[0011] If it is determined to continue to use the photoelectric signal array to detect the position of the slender medical device, then calculating the deviation value of each photoelectric signal array and the reference photoelectric signal value corresponding to each photoelectric receiving end;

[0012] Determining the position of the elongated medical device based on the deviation values ​​of each of the photoelectric signal arrays;

[0013] If it is determined not to continue using the photoelectric signal array to detect the position of the slender medical device, it is determined that the slender medical device is located within the detection area.

[0014] Furthermore, the step of determining the position of the elongated medical device based on the deviation value of each of the photoelectric signal arrays comprises:

[0015] Calculating the sum of the deviation values ​​of each of the photoelectric signal arrays;

[0016] Determining whether the sum of the deviation values ​​of each of the photoelectric signal arrays is greater than a preset deviation threshold;

[0017] If yes, it is determined that the elongated medical device is located in the detection area;

[0018] If not, it is determined that the elongated medical device is outside the detection area.

[0019] Furthermore, after the step of determining that the elongated medical device is outside the detection area, the method further comprises:

[0020] If the movement direction of the slender medical device is the retreat direction, the slender medical device is controlled to stop moving.

[0021] Furthermore, the step of determining whether to continue using the photoelectric signal array to detect the position of the elongated medical device based on the discrete deviation value of each photoelectric signal array comprises:

[0022] Calculating the sum of the discrete deviation values ​​of each of the photoelectric signal arrays;

[0023] Determining whether the sum of the discrete deviation values ​​of each of the photoelectric signal arrays is greater than a preset discrete deviation threshold;

[0024] If so, determining that there is no need to continue using the photoelectric signal array to detect the position of the elongated medical device;

[0025] If not, it is determined that the photoelectric signal array needs to continue to be used to detect the position of the elongated medical device.

[0026] Furthermore, before the step of obtaining the N photoelectric signal values ​​emitted by the photoelectric emitting end continuously collected by each photoelectric receiving end in the photoelectric receiving end matrix according to a preset frequency to obtain a photoelectric signal array corresponding to each photoelectric receiving end, the step includes:

[0027] The photoelectric signals collected by each of the photoelectric receiving ends are filtered.

[0028] Furthermore, the photoelectric transmitting end transmits infrared light of a first wavelength, and the photoelectric receiving end receives infrared light of a second wavelength; wherein the first wavelength is equal to the second wavelength.

[0029] A second aspect of the present invention provides a robot driver end, comprising:

[0030] A delivery device for delivering an elongated medical device;

[0031] A photoelectric transmitting end fixedly mounted on one side of the delivery path of the elongated medical device;

[0032] The photoelectric receiving end matrix is ​​fixedly installed on the other side of the delivery path of the slender medical device, and the photoelectric emitting end is arranged opposite to the photoelectric receiving end matrix.

[0033] Furthermore, the robot driver end further comprises a transparent valve body mounting portion for mounting a transparent valve body; the elongated medical device moves within the transparent valve body;

[0034] The photoelectric emitting end and the photoelectric receiving end matrix are located outside the transparent valve body.

[0035] A third aspect of the present invention provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of any one of the above-mentioned methods for detecting the position of an elongated medical device when executing the computer program.

[0036] A fourth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the steps of any of the above-mentioned methods for detecting the position of an elongated medical device are implemented.

[0037] Beneficial effects:

[0038] The robot driver end of the present application, the position detection method and device of the slender medical device, wherein the method of position detection of the slender medical device, firstly sets a matrix of a photoelectric transmitting end and a photoelectric receiving end on opposite sides of the delivery path, and uses the photoelectric receiving end to collect the photoelectric signal value and form an array. Then the discrete deviation value of the array is calculated to judge the stability of the signal to determine whether to continue to use the array for detection. If it can continue, the deviation value from the reference photoelectric signal value is calculated, and finally the position of the medical device is determined based on the deviation value. It can more accurately determine the position of the slender medical device, reduce errors, provide more accurate position information for medical operations, and help improve the efficiency and safety of medical operations such as surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 A schematic flow chart of a method for detecting the position of an elongated medical device according to an embodiment of the invention;

[0040] Figure 2 A schematic diagram of the circuit structure of a photoelectric system according to an embodiment of the present invention;

[0041] Figure 3 It is a signal waveform diagram of three stages in the optoelectronic system during the delivery process of the slender medical device according to one embodiment of the present invention;

[0042] Figure 4 This is a schematic diagram of the structure of a robot driver end according to an embodiment of the present invention;

[0043] Figure 5 The present invention is a block diagram showing the structure of a computer device according to an embodiment of the present invention.

[0044] In the figure: 10, transparent device; 20, slender medical device; 30, transparent valve body; 40, photoelectric emitting end; 41, second photoelectric emitting end; 50, photoelectric receiving end matrix; 51, second photoelectric receiving end matrix; 100, supporting part; 200, delivery device.

[0045] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0046] 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.

[0047] It will be understood by those skilled in the art that, unless expressly stated, the singular forms "a", "an", "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 invention refers to the presence of features, integers, steps, operations, elements, modules, 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 we refer to an element as being "connected" or "coupled" to another element, it may be directly connected or coupled to the other element, or there may 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.

[0048] 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 generally understood by those skilled in the art in the art to which the present invention belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless specifically defined as herein.

[0049] Reference Figure 1 and Figure 2 An embodiment of the present invention provides a method for detecting the position of a slender medical device 20, wherein a photoelectric transmitting end 40 and a photoelectric receiving end matrix 50 are arranged on opposite sides of the delivery path of the slender medical device 20, the photoelectric receiving end matrix 50 is composed of a plurality of photoelectric receiving ends, and the area between the photoelectric transmitting end 40 and the photoelectric receiving end matrix 50 is a detection area.

[0050] The above-mentioned slender medical device 20 refers to a medical tool with a slender shape, such as a catheter, a guide wire, etc., which requires precise position detection during medical operations.

[0051] The above-mentioned photoelectric emitting end 40 refers to a device capable of emitting specific light, and is used to emit light to the detection area. The emitted light signal can be visible light, infrared light, or ultraviolet light. In this embodiment, the photoelectric emitting end 40 can emit infrared light with a specific wavelength in the range of 800nm-1000nm, and the light emitting range is a conical area.

[0052] The above-mentioned photoelectric receiving end matrix 50 is a matrix structure composed of a plurality of photoelectric receiving ends arranged, and is used to receive the light emitted by the photoelectric transmitting end 40 and convert it into an electrical signal to detect the position of the slender medical device 20. The corresponding number of photoelectric receiving ends can be determined according to the location of the photoelectric receiving end, the collection requirements, and the shape of the detected object. In this embodiment, it corresponds to the collection of infrared light with a specific wavelength in the range of 800nm-1000nm.

[0053] In this embodiment, the photoelectric transmitting end 40 and the photoelectric receiving end matrix 50 form a photoelectric system, and the infrared spectrum with a specific wavelength in the range of 800nm-1000nm is selected to eliminate the influence of ambient visible light on system detection.

[0054] The photoelectric system is divided into two parts: transmitting and receiving. The slender medical device 20 to be detected is located between the photoelectric transmitting end 40 and the photoelectric receiving end matrix 50. The slender medical device 20 will absorb or reflect a part of the light intensity of the spectrum, causing a small change in the photocurrent at the photoelectric receiving end. By collecting the change characteristics of the photocurrent, the position state of the slender medical device 20 can be identified. When detecting the position of the slender medical device 20, the photoelectric transmitting end 40 will be started first to emit light, and the photoelectric receiving end matrix 50 will also be started to collect the received light signal according to the preset evaluation rate.

[0055] In a specific embodiment, referring to Figure 2 In the photoelectric system, the left photoelectric emitting end 40 of the slender medical device 20 is a photoelectric emitting tube, and the light emitting range is a conical area. The intensity of the emitted light is proportional to the current. U1 is a constant current driving module, which provides working current to the photoelectric emitting end 40. The working current can be dynamically adjusted by sending instructions through the main control unit U6. The purpose of adjusting the current is to ensure that the intensity of the emitted light maintains a suitable value during attenuation in different environments. The slender medical device 20 is inserted into the transparent device 10. The transparent device 10 is an object made of a material with good light transmittance. The slender medical device 20 is located in the transparent device 10 (it should be noted that whether the transparent device 10 is needed depends on the application scenario. The slender medical device 20 can also be directly tested by removing the transparent device 10, as shown below Figure 4As shown, a transparent valve body 30 can be provided at the end close to the patient to detect whether the guidewire has been withdrawn to the designated position. A photoelectric transmitting end 40 and a photoelectric receiving end matrix 50 can also be directly installed at the front end of the delivery device 200 to detect whether the guidewire is about to be completely delivered. The photoelectric receiving part is composed of one or more photoelectric receiving ends, and the number of the photoelectric receiving ends is determined according to the form of the detected object. In this embodiment, four receiving tubes are specifically used as T1, T2, T3, and T4 to form a photoelectric receiving end matrix 50, which are placed at different positions of the photoelectric system. When the received photoelectric current of each photoelectric receiving end is I, it is transmitted through a transimpedance amplifier (such as Figure 2 U2 and U3 shown in the figure realize I / V conversion, converting the photocurrent into a voltage value V. The 4-way photoelectric output voltage signals are:

[0056] The first photoelectric output: V1 = I1xR1;

[0057] The second photoelectric output: V2 = I2xR2;

[0058] The third photoelectric output: V3 = I3xR3;

[0059] The 4th photoelectric output: V4 = I4xR4;

[0060] The slender medical device 20 changes the receiving intensity of the photoelectric signal through the detection area, and one or more of the photoelectric signals V1-V4 will change. Because the detection is sensitive, interference may be caused in the environment. The four-way signal passes through the filter circuit module U4 to remove the interference noise and improve the stability of signal detection. Finally, the photoelectric signal conditioning unit U5 conditions and amplifies the four-way signal to an amplitude range suitable for the main control unit U6, which is used for logic control and data algorithm processing. Furthermore, an external calibration setting interface can be set on the main control unit U6 for calibration of the reference value in a variable environment.

[0061] The above position detection method comprises the steps of:

[0062] S10, obtaining each of the photoelectric receiving ends in the photoelectric receiving end matrix 50 to continuously collect N photoelectric signal values ​​emitted by the photoelectric emitting end 40 according to a preset frequency, and obtaining a photoelectric signal array corresponding to each of the photoelectric receiving ends; wherein N is a positive integer greater than or equal to 2;

[0063] S20, calculating the discrete deviation value of each of the photoelectric signal arrays;

[0064] S30, determining whether to continue using the photoelectric signal array to detect the position of the elongated medical device 20 based on the discrete deviation value of each of the photoelectric signal arrays;

[0065] S40, if it is determined to continue to use the photoelectric signal array to detect the position of the slender medical device 20, then calculating the deviation value of each photoelectric signal array and the reference photoelectric signal value corresponding to each photoelectric receiving end;

[0066] S50, determining the position of the elongated medical device 20 based on the deviation values ​​of each of the photoelectric signal arrays;

[0067] S60: If it is determined not to continue using the photoelectric signal array to detect the position of the slender medical device 20, then determine that the slender medical device 20 is within the detection area.

[0068] As described in the above step S10, the photoelectric signal value refers to the value of the electrical signal converted after the photoelectric receiving end receives the light, and its size is related to factors such as the intensity of the received light. The photoelectric signal array refers to an array composed of N photoelectric signal values ​​continuously collected by the photoelectric receiving end at a preset frequency, which is used for subsequent data processing and analysis. Among them, the preset frequency is preferably greater than 100Hz, and further, the preset frequency is within the range of 1000Hz-2000Hz; the above N is a positive integer greater than or equal to 2, mainly to ensure that the N photoelectric signal values ​​can form an array, preferably, N is within the range of 30-50, to prevent the photoelectric signal array from having too little data, which affects the accuracy of subsequent calculations, and the data from being too large affects the speed of calculations, etc. Through the reception and conversion of light by the photoelectric receiving end, N photoelectric signal values ​​are continuously collected, and these values ​​are arranged in the order of collection to form a photoelectric signal array. For example, N is 10, and the photoelectric receiving end continuously collects 10 photoelectric signal values ​​in a period of time, which are [100, 102, 98, 101, 99, 103, 100, 97, 102, 99], which forms a photoelectric signal array for subsequent analysis. Each photoelectric receiving end corresponds to a photoelectric signal array.

[0069] As described in the above step S20, the discrete deviation value is an indicator for measuring the degree of data discreteness in the photoelectric signal array, reflecting the stability and reliability of the signal. The present application calculates the discrete deviation value by calculating the standard deviation and the like. Taking the standard deviation as an example, for the photoelectric signal array [100, 102, 98, 101, 99, 103, 100, 97, 102, 99], the average value is first calculated as 100, and then the square of the difference between each data and the average value is calculated, and then the average value is calculated and the square root is taken to obtain the standard deviation.

[0070] As described in the above steps S30 and S60, refer to Figure 3During the delivery process of the slender medical device 20, there will be three stages in the above-mentioned photoelectric system. S1 is the data curve of the slender medical device 20 not entering the detection area, S2 is the data curve of the slender medical device 20 entering the detection area, and S3 is the data curve of the slender medical device 20 exiting the detection area. Figure 3 It can be seen that the values ​​of the S1 segment and the S3 segment are stable and similar in size. When the discrete deviation values ​​of the photoelectric signal arrays are relatively small, it means that the data changes are relatively stable, and the slender medical device 20 may be in the middle and rear section of the S2 segment, or in the S1 segment and the S3 segment, and it is impossible to make an accurate judgment, so it is necessary to continue the subsequent judgment, that is, to perform the subsequent steps S40 and S50; if the discrete deviation values ​​of the photoelectric signal arrays are relatively large, or the discrete deviation values ​​of some photoelectric signal arrays are relatively large, it means that it is in the early stage of the S2 segment, that is, it is determined that the slender medical device 20 has just entered the detection area, and there is no need to perform steps S40 and S50, and return to re-execute step S10.

[0071] As described in the above steps S40 and S50, the reference photoelectric signal value is the photoelectric signal value collected by the photoelectric receiving end when the slender medical device 20 is not located in the detection area between the photoelectric transmitting end 40 and the photoelectric receiving end matrix 50. It is used as a reference for the subsequent calculation of the deviation value. Each time an interventional surgery is started, the reference photoelectric signal value needs to be calibrated. When it is determined to continue to use the photoelectric signal array to detect the position of the slender medical device 20, each value in the current photoelectric signal array is subtracted from the corresponding reference photoelectric signal value, and then the average value is calculated to obtain the deviation value of each photoelectric signal array. The position of the slender medical device 20 is determined by analyzing and processing the deviation values ​​of each photoelectric signal array. For example, because the reference photoelectric signal value is a set value when the slender medical device 20 is not located in the detection area between the photoelectric transmitting end 40 and the photoelectric receiving end matrix 50, when the deviation values ​​of each photoelectric signal array are less than their corresponding deviation thresholds, it means that the slender medical device 20 is not between the photoelectric transmitting end 40 and the photoelectric receiving end matrix 50. At this time, the position of the slender medical device 20 can be determined in combination with the delivery direction of the slender medical device 20. For example, if the delivery direction of the slender medical device 20 is progressive, it means that the slender medical device 20 has not reached between the photoelectric transmitting end 40 and the photoelectric receiving end matrix 50. If the delivery direction of the slender medical device 20 is retreating, it means that the slender medical device 20 has exited between the photoelectric transmitting end 40 and the photoelectric receiving end matrix 50.

[0072] In summary, the method for position detection of the slender medical device 20 of the present application first sets a photoelectric transmitting end 40 and a photoelectric receiving end matrix 50 on opposite sides of the delivery path, and uses the photoelectric receiving end matrix 50 to collect photoelectric signal values ​​and form an array. Then, the discrete deviation value of the array is calculated to judge the stability of the signal to determine whether to continue using the array for detection. If it can continue, the deviation value from the reference photoelectric signal value is calculated, and finally the position of the medical device is determined based on the deviation value. That is, through multi-step processing and analysis of the photoelectric signal, the position of the slender medical device 20 can be determined more accurately, the error can be reduced, and more accurate position information can be provided for medical operations, which helps to improve the efficiency and safety of medical operations such as surgery.

[0073] In one embodiment, the step S50 of determining the position of the elongated medical device 20 based on the deviation values ​​of each of the photoelectric signal arrays comprises:

[0074] S51, calculating the sum of the deviation values ​​of each of the photoelectric signal arrays;

[0075] S52, determining whether the sum of the deviation values ​​of each of the photoelectric signal arrays is greater than a preset deviation threshold;

[0076] S53, if yes, determining that the elongated medical device 20 is located in the detection area;

[0077] S54: If not, determine that the elongated medical device 20 is outside the detection area.

[0078] As described in the above steps S51-S54, the deviation values ​​calculated from each photoelectric signal value in the photoelectric signal array and the corresponding reference photoelectric signal value are summed. By calculating the sum of the deviation values, a value reflecting the overall deviation of the photoelectric signal from the reference state can be obtained, which is convenient for subsequent comparison with the threshold.

[0079] The calculated sum of the deviation values ​​is compared with a preset deviation threshold, where the deviation threshold is a value obtained in advance through a large amount of simulation data training test. When the sum of the deviation values ​​is greater than the preset threshold, it indicates that the photoelectric signal is affected by the slender medical device 20, and the slender medical device 20 is determined to be located in the detection area. If the sum of the deviation values ​​is less than or equal to the preset threshold, it indicates that the photoelectric signal is less affected by the slender medical device 20, and it is determined to be located outside the detection area.

[0080] In a specific embodiment, referring to Figure 2There are four photoelectric receiving ends in the photoelectric receiving end matrix 50, and the deviation values ​​of V1[N]~V4[N] and the photoelectric reference values ​​a0, b0, c0, and d0 are calculated. a0, b0, c0, and d0 are the photoelectric reference values ​​when there is no slender medical device 20 in the detection area between the photoelectric transmitting end 40 and the photoelectric receiving end matrix 50.

[0081]

[0082]

[0083]

[0084]

[0085] Yn=ε1+ε2+ε3+ε4

[0086] Wherein, ε1, ε2, ε3 and ε4 respectively represent the deviation values ​​of the four photoelectric signal arrays; xi represents the i-th data value in the photoelectric signal array. Yn is the sum of the deviation values ​​of each of the photoelectric signal arrays. According to the similarity of the data curves of the S1 segment and the S3 segment, if the slender medical device 20 exits or does not enter the detection area, the deviation value of the two should be a relatively small value. Let this deviation threshold be b. If Yn<b, it can be confirmed according to the delivery direction that the slender medical device 20 has exited or has not reached the detection area, and the detection and identification are completed.

[0087] In this embodiment, how to determine the position of the slender medical device 20 based on the deviation value of the photoelectric signal array is further refined. By calculating the sum of the deviation values ​​and comparing it with the preset threshold, it is determined whether the slender medical device 20 is located in the detection area between the photoelectric transmitting end 40 and the receiving end matrix. It can accurately determine whether the slender medical device 20 enters the target detection area, provide key position information for medical operations, help doctors accurately grasp the operation process, and improve the accuracy of the operation. By reasonably setting the deviation threshold, the probability of misjudgment caused by factors such as signal fluctuations is reduced, and the reliability and stability of position detection are improved.

[0088] In one embodiment, after the step S54 of determining that the elongated medical device 20 is outside the detection area, the following steps are included:

[0089] S55: If the movement direction of the slender medical device 20 is the retreat direction, control the slender medical device 20 to stop moving.

[0090] As in the above step S55, taking the slender medical device 20 as a guide wire as an example, if the guide wire is in the retracted state, it means that the guide wire affects other current operations and needs to be withdrawn from the catheter. If its retracted position is not controlled, it may completely withdraw from the catheter, and then withdraw from the valve connected to the catheter. When it needs to be used again, it is necessary to manually enter the operating room to guide it into the valve, etc. During the 1G1S angiography operation, after the angiography guide wire delivers the angiography catheter to the designated position in the patient's body, the angiography guide wire needs to be withdrawn from the body by a power device. In this process, the doctor or surgical assistant must observe the movement of the guide wire throughout the process until it is confirmed that the guide wire is completely withdrawn from the valve body. Once the withdrawal is completed, if the operation needs to be continued, the guide wire needs to be inserted into the valve body again. This process is not only time-consuming, but also increases the complexity of the surgical operation and the risk of instrument contamination. In the present embodiment, the valve can be set to be transparent, and then the photoelectric transmitting end 40 and the photoelectric receiving end matrix 50 can be set on both sides of the specified position of the valve. When in the retracted state and it is determined that the slender medical device 20 is outside the detection area, the slender medical device 20 is controlled to stop moving. At this time, the end of the guide wire still remains in the valve. When the guide wire needs to enter the catheter again, there is no need for the doctor or the surgical assistant to enter the operating room to insert the guide wire into the valve body again, thereby reducing the time consumption of the operation, the complexity of the surgical operation and the risk of instrument contamination.

[0091] Further, when the photoelectric transmitting end 40 and the photoelectric receiving end matrix 50 are correspondingly arranged at the front end of the delivery device 200, if the slender medical device 20 is in an advanced state, when it is determined that the slender medical device 20 is outside the detection area, the slender medical device 20 is controlled to stop moving, so as to prevent the delivery device 200 from completely delivering the slender medical device 20 and failing to perform a retraction operation.

[0092] In one embodiment, the step S40 of determining whether to continue using the photoelectric signal array to detect the position of the elongated medical device 20 based on the discrete deviation values ​​of each photoelectric signal array comprises:

[0093] S41, calculating the sum of the discrete deviation values ​​of each of the photoelectric signal arrays;

[0094] S42, determining whether the sum of the discrete deviation values ​​of each of the photoelectric signal arrays is greater than a preset discrete deviation threshold;

[0095] S43, if yes, then it is determined that there is no need to continue using the photoelectric signal array to detect the position of the elongated medical device 20;

[0096] S44 , if not, it is determined that the photoelectric signal array needs to continue to be used to detect the position of the elongated medical device 20 .

[0097] As described in the above steps S41-S44, the discrete deviation values ​​of the photoelectric signal array corresponding to each photoelectric receiving end are summed up to comprehensively evaluate the stability of the signals received by multiple photoelectric receiving ends. When the sum of the discrete deviation values ​​is greater than the discrete deviation threshold, it means that the signal fluctuation is too large and there may be abnormal conditions such as interference. At this time, the slender medical device 20 should have just entered the detection area between the photoelectric transmitting end 40 and the photoelectric receiving end matrix 50. When the sum of the discrete deviation values ​​is less than or equal to the discrete deviation threshold, it indicates that the signal is relatively stable. Figure 3 As shown, the slender medical device 20 may be in the middle and rear section of the S2 section, or may be in the S1 section and the S3 section. The above discrete deviation threshold is a value obtained through a large amount of simulation data training test.

[0098] Reference Figure 2 There are four photoelectric receiving terminals in the photoelectric receiving terminal matrix 50. V1-V4 collect N data for each channel, forming four groups of photoelectric signal arrays V1[N]~V4[N] with a length of N. The average value of each group of arrays is calculated:

[0099]

[0100]

[0101]

[0102]

[0103] In the formula, is the average value of each group of arrays;

[0104] Then, the discrete deviation value of each photoelectric signal array is calculated using the leveling value of each group of arrays:

[0105]

[0106]

[0107]

[0108]

[0109] Find the sum of the discrete deviation values ​​of the four photoelectric signal arrays:

[0110] Sn=δ1+δ2+δ3+δ4

[0111] Sn is compared with the discrete deviation threshold a. If it is less than a, it means that the slender medical device 20 may not have entered the S1 segment, or entered the S3 segment and exited the detection area. It is also possible that the device is in the S2 segment. At this time, the data changes are relatively stable, so another calculation and judgment is required for confirmation.

[0112] In one embodiment, before the step S10 of obtaining the N photoelectric signal values ​​emitted by the photoelectric emitting end 40 continuously collected by each photoelectric receiving end in the photoelectric receiving end matrix 50 according to a preset frequency to obtain the photoelectric signal array corresponding to each photoelectric receiving end, the method includes:

[0113] S10', filtering the photoelectric signals collected by each of the photoelectric receiving ends.

[0114] As described in S10' above, a method for removing noise, interference and other processing from the collected photoelectric signal is used to improve the quality and stability of the signal. Common filtering methods include mean filtering, median filtering, Gaussian filtering and the like. After the photoelectric receiving end collects the photoelectric signal, a suitable filtering algorithm is used to process the signal. For example, mean filtering is used, and for each photoelectric signal sequence collected by the photoelectric receiving end, the average value of several adjacent signal values ​​is taken as the signal value after filtering. Assuming that the signal sequence collected by the photoelectric receiving end is [100, 105, 98, 102, 101, 99, 103, 100, 97, 102], a mean filter with a length of 3 is used, then the first value after filtering is (100+105+98) / 3≈101, the second value is (105+98+102) / 3≈102, and so on, to obtain the filtered signal sequence. In this embodiment, a filtering processing step for the photoelectric signal is added in the initial stage of the position detection method. Before obtaining the photoelectric signal value, the collected signal is first filtered to remove the noise and interference components therein to improve the accuracy and reliability of subsequent position detection. That is, through filtering, the noise and interference in the signal are removed, making the photoelectric signal smoother and more stable, and more accurately reflecting the impact of the slender medical device 20 on the light, providing a better data basis for subsequent position detection. It reduces the misjudgment and fluctuation caused by signal noise, improves the stability and reliability of the position detection system, and enables it to work more accurately in a complex medical environment.

[0115] In one embodiment, the photoelectric transmitting end 40 transmits infrared light of a first wavelength, and the photoelectric receiving end receives infrared light of a second wavelength, wherein the first wavelength is equal to the second wavelength. In this way, the maximum values ​​of the wavelength energies of the transmitted and received wavelengths are kept consistent, thus performing a band energy selection function, reducing the influence of spectral interference of other bands, and improving the detection accuracy.

[0116] Reference Figure 4 The present application also provides a robot driver end, which is used to implement the position detection method of the slender medical device 20 of each of the above embodiments, including:

[0117] A delivery device 200 for delivering an elongated medical device 20;

[0118] A photoelectric emitting end 40 is fixedly mounted on one side of the delivery path of the elongated medical device 20;

[0119] The photoelectric receiving end matrix 50 is fixedly installed on the other side of the delivery path of the slender medical device 20 , and the photoelectric emitting end 40 is arranged opposite to the photoelectric receiving end matrix 50 .

[0120] The above-mentioned delivery device 200 refers to a device for delivering the slender medical device 20 forward or backward, which is generally composed of two sets of rollers arranged opposite to each other, clamping the slender medical device 20 between the two sets of rollers, and then driving the slender medical device 20 forward or backward; or, it is a movable cart that can drive the slender medical device 20 forward or backward, etc.; or, it is a device with two sets of rollers on a movable cart to jointly realize the delivery of the slender medical device 20, etc.

[0121] The above-mentioned photoelectric transmitting end 40 and the photoelectric receiving end matrix 50 are respectively arranged on opposite sides of the delivery path of the slender medical device 20, so as to realize the transmission and reception of optical signals, etc.

[0122] Furthermore, the robot driver end also includes a transparent valve body 30 installation portion for installing the transparent valve body 30; the slender medical device 20 moves in the transparent valve body 30; the photoelectric transmitting end 40 and the photoelectric receiving end matrix 50 are located outside the transparent valve body 30.

[0123] Because different slender medical devices 20 such as catheters and guidewires need to be used during interventional surgery, and different liquids such as contrast agents need to be input into the catheter, a valve needs to be installed to meet the needs of the surgery. In this embodiment, a support portion 100 is provided at the end close to the patient, and a transparent valve body 30 mounting portion is provided on the support portion 100, and then the transparent valve body 30 is installed to the transparent valve body 30 mounting portion, and the photoelectric transmitting end 40 and the photoelectric receiving end matrix 50 are located outside the transparent valve body 30, so that the slender medical device 20 passing through the transparent valve body 30 can be detected by the above-mentioned position detection method of the slender medical device 20 to see whether it has been withdrawn into place.

[0124] In a specific embodiment, a U-shaped bracket is provided, which is mounted on the mounting portion of the transparent valve body 30, and the photoelectric transmitting end 40 and the photoelectric receiving end matrix 50 are respectively mounted on the two side walls of the U-shaped bracket. Of course, a data acquisition card of the photoelectric receiving end matrix 50 will also be mounted on the above-mentioned support portion 100, and no unnecessary limitation will be made here.

[0125] In a specific embodiment, a second photoelectric emitting terminal 41 and a second photoelectric receiving terminal matrix 51 may be installed at the front end of the delivery device 200, so as to prevent the elongated medical device 20 from being completely delivered and unable to perform a retraction operation.

[0126] Reference Figure 5 The embodiment of the present invention further provides a computer device, the internal structure of which can be as follows Figure 5 As shown. The computer device includes a processor, a memory, a network interface and a database connected via a system bus. Among them, the processor designed for the computer device 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 an operating device, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store surgical plans, etc. The network interface of the computer device is used to communicate with an external terminal via a network connection. Furthermore, the above-mentioned computer device can also be provided with an input device and a display screen, etc. When the above computer program is executed by a processor, a method for detecting the position of a slender medical device 20 is implemented, comprising the following steps: obtaining N photoelectric signal values ​​emitted by the photoelectric transmitting end 40 continuously collected by each photoelectric receiving end in the photoelectric receiving end matrix 50 according to a preset frequency, and obtaining a photoelectric signal array corresponding to each photoelectric receiving end; wherein N is a positive integer greater than or equal to 2; calculating a discrete deviation value of each photoelectric signal array; based on the discrete deviation value of each photoelectric signal array, determining whether to continue using the photoelectric signal array to detect the position of the slender medical device 20; if it is determined to continue using the The photoelectric signal array detects the position of the slender medical device 20, then calculates the deviation value of each photoelectric signal array and the reference photoelectric signal value corresponding to each photoelectric receiving end; based on the deviation value of each photoelectric signal array, determines the position of the slender medical device 20; if it is determined that the photoelectric signal array is not to be used to detect the position of the slender medical device 20, then returns to continue to execute "obtaining N photoelectric signal values ​​emitted by the photoelectric transmitting end 40 continuously collected by each photoelectric receiving end in the photoelectric receiving end matrix 50 according to a preset frequency, and obtaining a photoelectric signal array corresponding to each photoelectric receiving end".

[0127] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, a method for detecting the position of a slender medical device 20 is implemented, comprising the following steps: obtaining N photoelectric signal values ​​emitted by the photoelectric emitting end 40 continuously collected by each photoelectric receiving end in the photoelectric receiving end matrix 50 according to a preset frequency to obtain a photoelectric signal array corresponding to each photoelectric receiving end; wherein N is a positive integer greater than or equal to 2; calculating a discrete deviation value of each photoelectric signal array; and determining whether to continue using the photoelectric signal array to detect the position of the slender medical device based on the discrete deviation value of each photoelectric signal array. the position of the slender medical device 20; if it is determined to continue to use the photoelectric signal array to detect the position of the slender medical device 20, then calculate the deviation value of each photoelectric signal array and the reference photoelectric signal value corresponding to each photoelectric receiving end; based on the deviation value of each photoelectric signal array, determine the position of the slender medical device 20; if it is determined not to continue to use the photoelectric signal array to detect the position of the slender medical device 20, return to continue to execute "obtain each photoelectric receiving end in the photoelectric receiving end matrix 50 to continuously collect N photoelectric signal values ​​emitted by the photoelectric transmitting end 40 according to a preset frequency, and obtain the photoelectric signal array corresponding to each photoelectric receiving end".

[0128] Those of ordinary skill 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 non-volatile 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 this application and used in the embodiments may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double 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), etc.

[0129] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, device, article or method including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, device, article or method. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the presence of other identical elements in the process, device, article or method including the element.

[0130] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for detecting the position of an elongated medical device, characterized in that: A photoelectric emitting end and a photoelectric receiving end matrix are arranged on opposite sides of the delivery path of the elongated medical device, the photoelectric receiving end matrix is ​​composed of a plurality of photoelectric receiving ends, and the area between the photoelectric emitting end and the photoelectric receiving end matrix is ​​a detection area; The position detection method comprises the steps of: Obtaining that each of the photoelectric receiving ends in the photoelectric receiving end matrix continuously collects N photoelectric signal values ​​emitted by the photoelectric emitting end according to a preset frequency, and obtaining a photoelectric signal array corresponding to each of the photoelectric receiving ends; wherein N is a positive integer greater than or equal to 2; Calculating the discrete deviation value of each of the photoelectric signal arrays; Determining whether to continue using the photoelectric signal array to detect the position of the elongated medical device based on the discrete deviation value of each of the photoelectric signal arrays; If it is determined to continue to use the photoelectric signal array to detect the position of the slender medical device, then calculating the deviation value of each photoelectric signal array and the reference photoelectric signal value corresponding to each photoelectric receiving end; Determining the position of the elongated medical device based on the deviation values ​​of each of the photoelectric signal arrays; If it is determined not to continue using the photoelectric signal array to detect the position of the slender medical device, it is determined that the slender medical device is located within the detection area.

2. The method for detecting the position of an elongated medical device according to claim 1, characterized in that: The step of determining the position of the elongated medical device based on the deviation value of each of the photoelectric signal arrays comprises: Calculating the sum of the deviation values ​​of each of the photoelectric signal arrays; Determining whether the sum of the deviation values ​​of each of the photoelectric signal arrays is greater than a preset deviation threshold; If yes, it is determined that the elongated medical device is located in the detection area; If not, it is determined that the elongated medical device is outside the detection area.

3. The method for detecting the position of an elongated medical device according to claim 2, characterized in that: After the step of determining that the elongated medical device is outside the detection area, the method further comprises: If the movement direction of the slender medical device is a retreating direction, the slender medical device is controlled to stop moving.

4. The method for detecting the position of an elongated medical device according to claim 1, characterized in that: The step of determining whether to continue using the photoelectric signal array to detect the position of the elongated medical device based on the discrete deviation value of each photoelectric signal array comprises: Calculating the sum of the discrete deviation values ​​of each of the photoelectric signal arrays; Determining whether the sum of the discrete deviation values ​​of each of the photoelectric signal arrays is greater than a preset discrete deviation threshold; If so, determining that there is no need to continue using the photoelectric signal array to detect the position of the elongated medical device; If not, it is determined that the photoelectric signal array needs to continue to be used to detect the position of the slender medical device.

5. The method for detecting the position of an elongated medical device according to any one of claims 1 to 4, characterized in that: Before the step of obtaining each of the photoelectric receiving ends in the photoelectric receiving end matrix to continuously collect N photoelectric signal values ​​emitted by the photoelectric emitting end according to a preset frequency to obtain a photoelectric signal array corresponding to each of the photoelectric receiving ends, the method includes: The photoelectric signals collected by each of the photoelectric receiving ends are filtered.

6. The method for detecting the position of an elongated medical device according to any one of claims 1 to 4, characterized in that: The photoelectric transmitting end transmits infrared light of a first wavelength, and the photoelectric receiving end receives infrared light of a second wavelength; wherein the first wavelength is equal to the second wavelength.

7. A robot driver end, characterized in that: include: A delivery device for delivering an elongated medical device; A photoelectric transmitting end fixedly mounted on one side of the delivery path of the elongated medical device; The photoelectric receiving end matrix is ​​fixedly installed on the other side of the delivery path of the slender medical device, and the photoelectric emitting end is arranged opposite to the photoelectric receiving end matrix.

8. The robot driver end according to claim 7, characterized in that: It also includes a transparent valve body mounting portion for mounting the transparent valve body; the elongated medical device moves within the transparent valve body; The photoelectric emitting end and the photoelectric receiving end matrix are located outside the transparent valve body.

9. A computer device comprising a memory and a processor, wherein a computer program is stored in the memory, wherein: When the processor executes the computer program, the steps of the method for detecting the position of an elongated medical device according to any one of claims 1 to 6 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method for detecting the position of an elongated medical device according to any one of claims 1 to 6 are implemented.

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