Robot drive end, position detection method and apparatus for elongated medical instrument

Abstract

The application belongs to the field of digital medical treatment, and discloses a position detection method and device for the end of a robot driver and an elongated medical instrument. The position detection method for the elongated medical instrument first sets photoelectric emission ends and photoelectric receiving end matrices on opposite sides of a delivery path, collects photoelectric signal values by using the photoelectric receiving ends, and forms an array. Then, the discrete deviation values of the array are calculated to determine the stability of the signal, so as to determine whether the array can be continuously used for detection. If yes, the deviation value from a reference photoelectric signal value is calculated, and finally the position of the medical instrument is determined based on the deviation value. The position of the elongated medical instrument can be more accurately determined, the error is reduced, more accurate position information is provided for medical operation, and the efficiency and safety of the medical operation such as surgery are improved.

Description

Technical Field

[0001] This invention relates to the field of digital healthcare, and in particular to a method and device for position detection of a robot actuator end and a slender medical device. Background Technology

[0002] With the development of medical technology, the role of interventional surgical robots in clinical applications is becoming increasingly prominent. However, in practical applications, especially in complex vascular interventional surgeries, the limitations of robotic systems are gradually becoming apparent. Currently, when performing such surgeries, doctors often need to frequently deliver or withdraw catheters, guidewires, and other instruments. Since doctors are usually located at the operating table, they cannot directly see the specific position and status of the instruments on the robot's actuator end, leading to the so-called "blind operation" phenomenon. For example, during 1G1S angiography, after the angiography guidewire delivers the angiography catheter to the designated position in the patient's body, it needs to be withdrawn from the body via a power device. During this process, the doctor or surgical assistant must observe the movement of the guidewire throughout until it is confirmed that the guidewire has been completely withdrawn from the valve body. Once withdrawn, if the surgery needs to continue, the guidewire must be reinserted into the valve body. This process is not only time-consuming but also increases the complexity of the surgical procedure and the risk of instrument contamination.

[0003] Furthermore, during guidewire delivery, due to the limited length and flexible tip of the guidewire, it is difficult for the surgeon to constantly monitor the position of the guidewire's tail. Delivering the guidewire using rollers or similar methods can easily cause it to exceed the control range of the power unit, forcing the surgery to be paused for adjustments. Such procedures not only prolong the operation time but also increase patient discomfort and the surgeon's workload.

[0004] The existence of these problems means that despite the high efficiency, safety, and precision of interventional surgical robots, their full potential has not been realized in practical applications. Frequent installation and removal of instruments during surgery increases the workload for surgeons and prolongs patient procedures; assistants need to wear lead aprons to monitor the machine's operation in the operating room, increasing both labor costs and workload; instruments may come into contact with non-sterile environments such as the ground during operation, posing a high risk of contamination; lack of instrument position information necessitates manual intervention in some operations, reducing machine efficiency; and the lack of intelligent operation and the long learning curve for surgeons further contribute to lower-than-expected operational efficiency. Therefore, developing a device that can automatically detect the position and status of interventional surgical instruments is particularly urgent. Summary of the Invention

[0005] This invention provides a method and device for position detection of a robot actuator end and a slender medical device, aiming to solve the technical problem that interventional surgical robots cannot accurately position instruments when operating them.

[0006] To achieve the above-mentioned objectives, the first aspect of the present invention proposes a position detection method for a slender medical device, wherein a photoelectric transmitter and a photoelectric receiver matrix are arranged on opposite sides of the delivery path of the slender medical device, the photoelectric receiver matrix is ​​composed of multiple photoelectric receivers, and the area between the photoelectric transmitter and the photoelectric receiver matrix is ​​the detection area.

[0007] The location detection method includes the following steps:

[0008] The photoelectric receivers in the photoelectric receiver matrix continuously collect N photoelectric signal values ​​emitted by the photoelectric transmitter at a preset frequency to obtain the photoelectric signal array corresponding to each photoelectric receiver; where N is a positive integer greater than or equal to 2.

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

[0010] Based on the discrete deviation values ​​of each of the photoelectric signal arrays, determine whether to continue using the photoelectric signal arrays to detect the position of the elongated medical device;

[0011] If it is determined that the photoelectric signal array will continue to be used to detect the position of the elongated medical device, then the deviation value between each photoelectric signal array and the reference photoelectric signal value corresponding to each photoelectric receiver is calculated.

[0012] The position of the elongated medical device is determined based on the deviation values ​​of each of the photoelectric signal arrays.

[0013] If it is determined that the photoelectric signal array will not be used to detect the position of the elongated medical device, then the elongated medical device is determined to be located within the detection area.

[0014] Further, the step of determining the position of the elongated medical device based on the deviation values ​​of each of the photoelectric signal arrays includes:

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

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

[0017] If so, the elongated medical device is determined to be located in the detection area;

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

[0019] Further, after the step of determining that the elongated medical device is located outside the detection area, the method includes:

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

[0021] Further, 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 values ​​of each of the photoelectric signal arrays includes:

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

[0023] Determine 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, it is determined 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 position of the elongated medical device needs to be detected using the photoelectric signal array.

[0026] Further, before the step of obtaining the photoelectric signal array corresponding to each photoelectric receiver array by continuously acquiring N photoelectric signal values ​​emitted by the photoelectric transmitter at a preset frequency by each photoelectric receiver array, the following steps are included:

[0027] The photoelectric signals acquired by each of the photoelectric receiving terminals are filtered.

[0028] Furthermore, the photoelectric emitting end emits infrared light of a first wavelength, and the photoelectric receiving end receives infrared light of a second wavelength; wherein the first wavelength and the second wavelength are equal.

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

[0030] Delivery device for delivering slender medical devices;

[0031] The photoelectric transmitter is fixedly installed on one side of the delivery path of the elongated medical device;

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

[0033] Furthermore, the robot actuator end also includes a transparent valve body mounting part for mounting the transparent valve body; the elongated medical device moves within the transparent valve body;

[0034] The photoelectric transmitter and the photoelectric receiver matrix are located outside the transparent valve body.

[0035] A third aspect of the present invention provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the position detection method for the elongated medical device described in any of the preceding claims.

[0036] A fourth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the position detection method for the elongated medical device described in any of the preceding claims.

[0037] Beneficial effects:

[0038] This application discloses a robot actuator end, a method and apparatus for position detection of a slender medical device. The method for position detection of the slender medical device first involves setting up a matrix of photoelectric transmitters and receivers on opposite sides of the delivery path. The photoelectric receivers collect photoelectric signal values ​​and form an array. Then, the discrete deviation value of the array is calculated to determine the signal stability and whether to continue using the array for detection. If continued, 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. This method enables more accurate position determination of slender medical devices, reduces errors, provides more accurate position information for medical operations, and helps improve the efficiency and safety of surgical and other medical procedures. Attached Figure Description

[0039] Figure 1 A flowchart illustrating a method for position detection of an elongated medical device according to an embodiment of the invention;

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

[0041] Figure 3 The image shows the signal waveforms of a slender medical device according to an embodiment of the present invention during delivery, in three stages of the photoelectric system.

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

[0043] Figure 5 This is a schematic block diagram 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 transmitter; 41, second photoelectric transmitter; 50, photoelectric receiver matrix; 51, second photoelectric receiver matrix; 100, support part; 200, delivery device.

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

[0046] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0047] Those skilled in the art will understand that, unless specifically stated otherwise, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the term “comprising” as used in this specification means the presence of features, integers, steps, operations, elements, modules, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, modules, components, and / or groups thereof. It should be understood that when we say an element is “connected” or “coupled” to another element, it can be directly connected or coupled to the other element, or there may be intermediate elements. Furthermore, “connected” or “coupled” as used herein can include wireless connections or wireless coupling. The term “and / or” as used herein includes all or any modules 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 used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless specifically defined as herein.

[0049] Reference Figure 1 and Figure 2 This invention provides a position detection method for a slender medical device 20. A photoelectric transmitter 40 and a photoelectric receiver matrix 50 are arranged on opposite sides of the delivery path of the slender medical device 20. The photoelectric receiver matrix 50 is composed of multiple photoelectric receivers, and the area between the photoelectric transmitter 40 and the photoelectric receiver matrix 50 is the detection area.

[0050] The aforementioned slender medical device 20 refers to a medical tool with a slender shape, such as a catheter or guidewire, which requires precise location detection during medical procedures.

[0051] The aforementioned photoelectric emitter 40 refers to a device capable of emitting specific light rays for projecting light onto a detection area. The emitted light signal can be visible light, infrared light, or ultraviolet light, etc. In this embodiment, the photoelectric emitter 40 is capable of emitting infrared light of a specific wavelength in the range of 800nm-1000nm, with the emitting range being a conical region.

[0052] The aforementioned photoelectric receiver matrix 50 is a matrix structure composed of multiple photoelectric receivers arranged together. It is used to receive the light emitted by the photoelectric transmitter 40 and convert it into an electrical signal to detect the position of the slender medical device 20. The appropriate number of photoelectric receivers can be determined according to the placement of the photoelectric receivers, the acquisition requirements, and the shape of the object being detected. In this embodiment, it corresponds to the acquisition of infrared light of a specific wavelength in the range of 800nm-1000nm.

[0053] In this embodiment, the photoelectric transmitter 40 and the photoelectric receiver matrix 50 form a photoelectric system. By selecting a specific wavelength of infrared spectrum in the range of 800nm-1000nm, the influence of ambient visible light on the system detection can be eliminated.

[0054] The photoelectric system consists of two parts: a transmitter and a receiver. The slender medical device 20 to be detected is positioned between the photoelectric transmitter 40 and the photoelectric receiver matrix 50. The slender medical device 20 absorbs or reflects a portion of the light intensity, causing a slight change in photocurrent at the photoelectric receiver. By collecting the characteristics of this photocurrent change, the position of the slender medical device 20 is identified. When detecting the position of the slender medical device 20, the photoelectric transmitter 40 is first activated to emit light, and simultaneously, the photoelectric receiver matrix 50 is also activated to collect the received light signal according to a preset rate.

[0055] In one specific embodiment, refer to Figure 2 In the photoelectric system, the left photoelectric emitter 40 of the slender medical device 20 is a photoelectric emitter tube, with a light emission range forming a conical region. The intensity of the emitted light is proportional to the current. U1 is a constant current drive module that provides operating current to the photoelectric emitter 40. The operating current can be dynamically adjusted by sending commands through the main control unit U6. The purpose of adjusting the current is to ensure that the intensity of the emitted light remains at a suitable value during attenuation in different environments. The slender medical device 20 is inserted into the transparent device 10, which is an object made of a material with good light transmittance. The slender medical device 20 is located within 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 be directly tested even without the transparent device 10, as follows...) Figure 4As shown, a transparent valve body 30 can be installed at the end closest to the patient to detect whether the guidewire has been withdrawn to the designated position. Alternatively, a photoelectric transmitter 40 and a photoelectric receiver matrix 50 can be directly installed at the front end of the delivery device 200 to detect whether the guidewire is about to be fully delivered. The photoelectric receiving section consists of one or more photoelectric receivers, the number of which depends on the shape of the object being detected. In this embodiment, four receiving tubes, T1, T2, T3, and T4, are used to form a photoelectric receiver matrix 50, placed at different positions in the photoelectric system. When the received photoelectric current of each photoelectric receiver is I, it is passed through a transimpedance amplifier (such as...). Figure 2 U2 and U3 shown in the figure realize I / V conversion, converting photocurrent into voltage value V. The four photoelectric output voltage signals are as follows:

[0056] First photoelectric output: V1 = I1 x R1;

[0057] Second photoelectric output: V2 = I2xR2;

[0058] Third photoelectric output: V3 = I3 x R3;

[0059] 4th photoelectric output: V4 = I4 x R4;

[0060] The slender medical device 20 changes the received intensity of the photoelectric signal through the detection area. One or more of the photoelectric signals V1-V4 will change. Because the detection is sensitive, environmental interference may occur. The four signals are filtered by the filter circuit module U4 to remove interference noise and improve the stability of signal detection. Finally, the photoelectric signal conditioning unit U5 conditions and amplifies the four signals to an amplitude range suitable for the main control unit U6. The main control unit U6 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 reference values ​​in variable environments.

[0061] The above position detection method includes the following steps:

[0062] S10. Obtain N photoelectric signal values ​​emitted by the photoelectric transmitter 40 continuously at a preset frequency from each photoelectric receiver in the photoelectric receiver matrix 50, and obtain the photoelectric signal array corresponding to each photoelectric receiver; where N is a positive integer greater than or equal to 2.

[0063] S20. Calculate the discrete deviation value of each of the photoelectric signal arrays;

[0064] S30. Based on the discrete deviation values ​​of each of the photoelectric signal arrays, determine whether to continue using the photoelectric signal arrays to detect the position of the elongated medical device 20;

[0065] S40. If it is determined that the photoelectric signal array will continue to be used to detect the position of the elongated medical device 20, then the deviation value between each photoelectric signal array and the reference photoelectric signal value corresponding to each photoelectric receiver is calculated.

[0066] S50. Determine 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 that the photoelectric signal array should not be used to detect the position of the elongated medical device 20, then the elongated medical device 20 is determined to be located within the detection area.

[0068] As described in step S10 above, the photoelectric signal value refers to the numerical value of the electrical signal converted by the photoelectric receiver after receiving light, and its magnitude 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 receiver at a preset frequency, used for subsequent data processing and analysis. Preferably, the preset frequency is greater than 100Hz, and further, it is within the range of 1000Hz-2000Hz; N is a positive integer greater than or equal to 2, mainly to ensure that N photoelectric signal values ​​can form an array. Preferably, N is within the range of 30-50 to prevent the data in the photoelectric signal array from being too small, affecting the accuracy of subsequent calculations, while the data being too large affects the calculation speed, etc. Through the reception and conversion of light by the photoelectric receiver, 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, if N is 10, the photoelectric receiver continuously collects 10 photoelectric signal values ​​over a period of time, which are [100, 102, 98, 101, 99, 103, 100, 97, 102, 99]. This forms a photoelectric signal array for subsequent analysis. Each photoelectric receiver corresponds to one photoelectric signal array.

[0069] As described in step S20 above, the discrete deviation value is an indicator used to measure the degree of data dispersion in the photoelectric signal array, reflecting the stability and reliability of the signal. This application calculates the discrete deviation value by methods such as calculating the standard deviation. 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, then the square of the difference between each data point 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 steps S30 and S60 above, refer to Figure 3During the delivery process of the elongated medical device 20, there are three stages in the aforementioned photoelectric system: S1 is the data curve of the elongated medical device 20 before entering the detection area, S2 is the data curve of the elongated medical device 20 entering the detection area, and S3 is the data curve of the elongated medical device 20 exiting the detection area. Figure 3 It can be seen that the values ​​in segments S1 and S3 are stable and similar in magnitude. When the discrete deviation values ​​of each photoelectric signal array are relatively small, it indicates that the data change is relatively stable. The slender medical device 20 may be in the middle or later part of segment S2, or it may be in segment S1 or S3. It is impossible to make an accurate judgment, so it is necessary to continue to make subsequent judgments, that is, to perform subsequent steps S40 and S50. If the discrete deviation values ​​of each photoelectric signal array are relatively large, or the discrete deviation values ​​of several photoelectric signal arrays are relatively large, it indicates that it is in the early stage of segment S2, that is, it is determined that the slender medical device 20 has just entered the detection area. There is no need to execute steps S40 and S50, and the process returns to re-execute step S10.

[0071] As described in steps S40 and S50 above, the reference photoelectric signal value is the photoelectric signal value collected by the photoelectric receiver when the elongated medical device 20 is not located in the detection area between the photoelectric transmitter 40 and the photoelectric receiver matrix 50. This value serves as a reference for subsequent deviation calculations. This reference photoelectric signal value needs to be calibrated each time an interventional procedure begins. Once it is determined that the photoelectric signal array will continue to be used to detect the position of the elongated 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, since the reference photoelectric signal value is set for when the slender medical device 20 is not located in the detection area between the photoelectric transmitter 40 and the photoelectric receiver matrix 50, when the deviation values ​​of each photoelectric signal array are less than their corresponding deviation thresholds, it indicates that the slender medical device 20 is not between the photoelectric transmitter 40 and the photoelectric receiver matrix 50. At this time, the position of the slender medical device 20 can be determined by combining the delivery direction of the slender medical device 20. For example, if the delivery direction of the slender medical device 20 is forward, it indicates that the slender medical device 20 has not reached the area between the photoelectric transmitter 40 and the photoelectric receiver matrix 50. If the delivery direction of the slender medical device 20 is backward, it indicates that the slender medical device 20 has exited the area between the photoelectric transmitter 40 and the photoelectric receiver matrix 50.

[0072] In summary, the method for position detection of the elongated medical device 20 in this application firstly involves setting up photoelectric transmitters 40 and photoelectric receiver matrices 50 on opposite sides of the delivery path. The photoelectric receiver matrix 50 collects photoelectric signal values ​​and forms an array. Then, the discrete deviation value of the array is calculated to determine the signal stability and whether to continue using the array for detection. If continued, 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 signals, the position of the elongated medical device 20 can be determined more accurately, reducing errors and providing more accurate position information for medical operations, thus helping to improve the efficiency and safety of surgical and other medical procedures.

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

[0074] S51. Calculate the sum of the deviation values ​​of each of the photoelectric signal arrays;

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

[0076] S53. If so, then it is determined that the elongated medical device 20 is located in the detection area;

[0077] S54. If not, then the elongated medical device 20 is determined to be outside the detection area.

[0078] As described in steps S51-S54 above, 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 sum of the calculated deviation values ​​is compared with a preset deviation threshold, which is a value obtained through training and testing with a large amount of simulated data. 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, thus determining that the slender medical device 20 is within 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, thus determining that it is outside the detection area.

[0080] In one specific embodiment, refer to Figure 2There are four photoelectric receivers in the photoelectric receiver matrix 50. The deviation values ​​of V1[N]~V4[N] from the photoelectric reference values ​​a0, b0, c0, d0 are calculated. a0, b0, c0, d0 are the photoelectric reference values ​​when there is no slender medical device 20 in the detection area between the photoelectric transmitter 40 and the photoelectric receiver matrix 50.

[0081]

[0082]

[0083]

[0084]

[0085] Yn=ε1+ε2+ε3+ε4

[0086] In the formula, ε1, ε2, ε3, and ε4 represent the deviation values ​​of the four photoelectric signal arrays, respectively; 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. Based on the similarity of the data curves in segments S1 and S3, if the slender medical device 20 exits or fails to enter the detection area, the deviation value should be relatively small. Let this deviation threshold be b. If Yn < b, it can be confirmed that the slender medical device 20 has exited or failed to reach the detection area based on the delivery direction, thus completing the detection and identification.

[0087] In this embodiment, the method for determining the position of the elongated 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 a preset threshold, it is determined whether the elongated medical device 20 is located in the detection area between the photoelectric transmitter 40 and the receiver matrix. This allows for accurate determination of whether the elongated medical device 20 has entered the target detection area, providing crucial positional information for medical operations, helping doctors accurately grasp the operation process, and improving the precision of surgery. By reasonably setting the deviation threshold, the probability of misjudgment caused by factors such as signal fluctuations is reduced, improving the reliability and stability of position detection.

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

[0089] S55. If the movement direction of the elongated medical device 20 is the retraction direction, then control the elongated medical device 20 to stop moving.

[0090] As in step S55 above, taking the slender medical device 20 as a guidewire as an example, if the guidewire is in a retracted state, it indicates that the guidewire is interfering with other current operations and needs to be withdrawn from the catheter. If its retraction position is not controlled, it may completely withdraw from the catheter, and then the valve connected to the catheter may need to be disconnected. When it needs to be used again, manual intervention is required to guide it back into the valve, etc. For example, during a 1G1S angiography procedure, after the angiography guidewire delivers the angiography catheter to the designated position inside the patient's body, it needs to be withdrawn from the body using a power device. During this process, the doctor or surgical assistant must observe the movement of the guidewire throughout until it is confirmed that the guidewire has been completely withdrawn from the valve body. Once withdrawn, if the surgery needs to continue, the guidewire must be reinserted into the valve body. This process is not only time-consuming but also increases the complexity of the surgical procedure and the risk of instrument contamination. In this embodiment, the valve can be made transparent, and the photoelectric transmitter 40 and the photoelectric receiver matrix 50 can be set on both sides of the valve at a designated position. When the valve is in a 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 guidewire is still inside the valve. When the guidewire needs to be re-entered into the catheter, there is no need for the doctor or surgical assistant to enter the operating room to re-insert the guidewire into the valve body, reducing the operation time, reducing the complexity of the operation and the risk of instrument contamination.

[0091] Furthermore, when the photoelectric transmitter 40 and the photoelectric receiver matrix 50 are respectively arranged at the front end of the delivery device 200, if the elongated medical device 20 is in a progressive state, when it is determined that the elongated medical device 20 is outside the detection area, the elongated medical device 20 is controlled to stop moving, so as to prevent the delivery device 200 from completely delivering the elongated medical device 20 and thus being unable to perform the return operation.

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

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

[0094] S42. Determine 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 so, it is determined that it is unnecessary 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 position of the elongated medical device 20 needs to be detected by continuing to use the photoelectric signal array.

[0097] As described in steps S41-S44 above, the discrete deviation values ​​of the photoelectric signal array corresponding to each photoelectric receiver are summed to comprehensively evaluate the stability of the signals received by multiple photoelectric receivers. When the sum of the discrete deviation values ​​is greater than the discrete deviation threshold, it indicates that the signal fluctuation is too large, and there may be abnormalities such as interference. At this time, the slender medical device 20 should have just entered the detection area between the photoelectric transmitter 40 and the photoelectric receiver 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 elongated medical device 20 may be located in the middle to later part of segment S2, or it may be located in segments S1 and S3. The aforementioned discrete deviation thresholds are values ​​obtained through training and testing with a large amount of simulated data.

[0098] Reference Figure 2 The photoelectric receiver matrix 50 has four photoelectric receivers. V1-V4 collect N data points from each channel, forming four photoelectric signal arrays of length N, from V1[N] to V4[N]. Calculate the average value of each array:

[0099]

[0100]

[0101]

[0102]

[0103] In the formula, This represents the average value of each group of arrays.

[0104] Then, using the leveling values ​​of each array, the discrete deviation values ​​of each photoelectric signal array are calculated:

[0105]

[0106]

[0107]

[0108]

[0109] Calculate the sum of the discrete deviations of the four photoelectric signal arrays:

[0110] Sn=δ1+δ2+δ3+δ4

[0111] The 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 may have 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 change is relatively stable, so an additional calculation and judgment is needed for confirmation.

[0112] In one embodiment, before step S10, which involves obtaining the photoelectric signal arrays corresponding to each photoelectric receiver array by continuously acquiring N photoelectric signal values ​​emitted by the photoelectric transmitter 40 at a preset frequency by each photoelectric receiver array 50, the following steps are included:

[0113] S10: Filter the photoelectric signals collected by each of the photoelectric receivers.

[0114] As described in S10 above, a method for removing noise and interference from the acquired photoelectric signals is used to improve signal quality and stability. Common filtering methods include mean filtering, median filtering, and Gaussian filtering. After the photoelectric signal is acquired at the photoelectric receiver, a suitable filtering algorithm is used to process the signal. For example, using mean filtering, for each photoelectric signal sequence acquired by the photoelectric receiver, the average of several adjacent signal values ​​is taken as the filtered signal value. Assuming the signal sequence acquired by the photoelectric receiver is [100, 105, 98, 102, 101, 99, 103, 100, 97, 102], using a mean filter with a length of 3, 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 step for the photoelectric signal is added in the initial stage of the position detection method. Before acquiring the photoelectric signal value, the collected signal is filtered to remove noise and interference components, thereby improving the accuracy and reliability of subsequent position detection. In other words, filtering removes noise and interference from the signal, making the photoelectric signal smoother and more stable, and more accurately reflecting the influence of the slender medical device 20 on light, providing a higher quality data foundation for subsequent position detection. This reduces misjudgments and fluctuations caused by signal noise, improves the stability and reliability of the position detection system, and enables it to work more accurately in complex medical environments.

[0115] In one embodiment, the photoelectric emitting end 40 emits infrared light of a first wavelength, and the photoelectric receiving end receives infrared light of a second wavelength; wherein the first wavelength and the second wavelength are equal. This configuration ensures that the maximum energy values ​​of the emitted and received wavelengths are consistent, thus performing a band energy selection function, reducing the impact of spectral interference from other bands, and improving detection accuracy.

[0116] Reference Figure 4 This application also provides a robot actuator end for implementing the position detection method of the elongated medical device 20 in the above embodiments, including:

[0117] Delivery device 200 for delivering a slender medical device 20;

[0118] The photoelectric transmitter 40 is fixedly installed 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 elongated medical device 20, and the photoelectric transmitting end 40 is arranged opposite to the photoelectric receiving end matrix 50.

[0120] The aforementioned delivery device 200 refers to a device for advancing or retracting a slender medical device 20. Generally, it consists of two sets of rollers arranged opposite each other, with the slender medical device 20 held between the two sets of rollers, and then driving the slender medical device 20 to advance or retract; or, it is a movable cart that can drive the slender medical device 20 to advance or retract, etc.; or, it is a device with two sets of rollers on a movable cart that together deliver the slender medical device 20, etc.

[0121] The aforementioned photoelectric transmitter 40 and photoelectric receiver matrix 50 are respectively arranged on opposite sides of the delivery path of the elongated medical device 20, thereby realizing the transmission and reception of light signals.

[0122] Furthermore, the robot actuator also includes a transparent valve body 30 mounting part for mounting the transparent valve body 30; the elongated medical device 20 moves within the transparent valve body 30; the photoelectric emitting end 40 and the photoelectric receiving end matrix 50 are located outside the transparent valve body 30.

[0123] Because interventional surgery requires the use of various slender medical devices 20 such as catheters and guidewires, and the introduction of different liquids, such as contrast agents, into the catheters, a valve is needed to meet the surgical requirements. In this embodiment, a support portion 100 is provided at the end closest to the patient, and a transparent valve body 30 mounting portion is provided on the support portion 100. The transparent valve body 30 is then installed on the transparent valve body 30 mounting portion, while the photoelectric emitting end 40 and the photoelectric receiving end matrix 50 are located outside the transparent valve body 30. In this way, the slender medical devices 20 passing through the transparent valve body 30 can be detected to have exited into place using the aforementioned position detection method for slender medical devices 20.

[0124] In one specific embodiment, a U-shaped bracket is provided and installed on the mounting part of the transparent valve body 30. A photoelectric transmitter 40 and a photoelectric receiver matrix 50 are respectively installed on the two side walls of the U-shaped bracket. Of course, a data acquisition card for the photoelectric receiver matrix 50, etc., may also be installed on the aforementioned support part 100; further limitations are not specified here.

[0125] In one specific embodiment, a second photoelectric transmitter 41 and a second photoelectric receiver matrix 51 may also be installed at the front end of the delivery device 200, which can prevent the slender medical device 20 from being completely delivered and unable to perform a retraction operation.

[0126] Reference Figure 5 The present invention also provides a computer device, the internal structure of which can be as follows: Figure 5 As shown, this computer device includes a processor, memory, network interface, and database connected via a system bus. The processor is designed to provide computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores operating devices, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores surgical plans, etc. The network interface is used for communication with external terminals via a network connection. Furthermore, the computer device may also include input devices and a display screen, etc. When the aforementioned computer program is executed by a processor, it implements a position detection method for an elongated medical device 20, comprising the following steps: acquiring N photoelectric signal values ​​continuously collected by each photoelectric receiver in the photoelectric receiver matrix 50 from the photoelectric transmitter 40 at a preset frequency, thereby obtaining a photoelectric signal array corresponding to each photoelectric receiver; wherein N is a positive integer greater than or equal to 2; calculating the 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 elongated medical device 20; if it is determined that to continue using the photoelectric signal array... If the position of the elongated medical device 20 is detected by the photoelectric signal array, the deviation value between each photoelectric signal array and the reference photoelectric signal value corresponding to each photoelectric receiver is calculated; based on the deviation value of each photoelectric signal array, the position of the elongated medical device 20 is determined; if it is determined that the photoelectric signal array should not be used to detect the position of the elongated medical device 20, the process returns to continue executing "obtaining N photoelectric signal values ​​emitted by the photoelectric transmitter 40 continuously at a preset frequency by each photoelectric receiver in the photoelectric receiver matrix 50, and obtaining the photoelectric signal array corresponding to each photoelectric receiver".

[0127] One embodiment of this application also provides a computer-readable storage medium storing a computer program thereon. When executed by a processor, the computer program implements a position detection method for an elongated medical device 20, comprising the following steps: acquiring N photoelectric signal values ​​emitted by a photoelectric transmitter 40 at a preset frequency from each photoelectric receiver in the photoelectric receiver matrix 50, thereby obtaining a photoelectric signal array corresponding to each photoelectric receiver; wherein N is a positive integer greater than or equal to 2; calculating the discrete deviation value of each photoelectric signal array; and determining whether to continue using the photoelectric signal array to detect the elongated medical device based on the discrete deviation value of each photoelectric signal array. The position of the elongated medical device 20 is determined; if it is determined that the photoelectric signal array should continue to be used to detect the position of the elongated medical device 20, the deviation value between each photoelectric signal array and the reference photoelectric signal value corresponding to each photoelectric receiver is calculated; based on the deviation value of each photoelectric signal array, the position of the elongated medical device 20 is determined; if it is determined that the photoelectric signal array should not continue to be used to detect the position of the elongated medical device 20, the process returns to continue executing "obtaining N photoelectric signal values ​​emitted by the photoelectric transmitter 40 by each photoelectric receiver in the photoelectric receiver matrix 50 at a preset frequency, and obtaining the photoelectric signal array corresponding to each photoelectric receiver".

[0128] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media provided in this application and 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), dual-speed SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0129] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, apparatus, article, or method. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, apparatus, article, or method that includes that element.

[0130] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A method for position detection of a slender medical device, characterized in that, A matrix of photoelectric transmitters and photoelectric receivers is provided on both sides of the delivery path of the slender medical device. The matrix of photoelectric receivers is composed of multiple photoelectric receivers. The area between the photoelectric transmitters and the matrix of photoelectric receivers is the detection area. The location detection method includes the following steps: The photoelectric receivers in the photoelectric receiver matrix continuously collect N photoelectric signal values ​​emitted by the photoelectric transmitter at a preset frequency to obtain the photoelectric signal array corresponding to each photoelectric receiver; where N is a positive integer greater than or equal to 2. Calculate the discrete deviation value of each of the aforementioned photoelectric signal arrays; Based on the discrete deviation values ​​of each of the photoelectric signal arrays, determine whether to continue using the photoelectric signal arrays to detect the position of the elongated medical device; If it is determined that the photoelectric signal array will continue to be used to detect the position of the elongated medical device, then the deviation value between each photoelectric signal array and the reference photoelectric signal value corresponding to each photoelectric receiver is calculated. The position of the elongated medical device is determined based on the deviation values ​​of each of the photoelectric signal arrays. If it is determined that the photoelectric signal array will not be used to detect the position of the elongated medical device, then the elongated medical device is determined to be located within the detection area.

2. The position detection method for a slender medical device according to claim 1, characterized in that, The step of determining the position of the elongated medical device based on the deviation values ​​of each of the photoelectric signal arrays includes: Calculate the sum of the deviation values ​​of each of the aforementioned photoelectric signal arrays; Determine whether the sum of the deviation values ​​of each of the photoelectric signal arrays is greater than a preset deviation threshold; If so, the elongated medical device is determined to be located in the detection area; If not, the elongated medical device is determined to be outside the detection area.

3. The position detection method for a slender medical device according to claim 2, characterized in that, After the step of determining that the elongated medical device is located outside the detection area, the following steps are included: If the movement direction of the slender medical device is the retraction direction, then the slender medical device is controlled to stop moving.

4. The position detection method for a slender medical device according to claim 1, characterized in that, The step of determining whether to continue using the photoelectric signal arrays to detect the position of the elongated medical device based on the discrete deviation values ​​of each of the photoelectric signal arrays includes: Calculate the sum of the discrete deviation values ​​of each of the aforementioned photoelectric signal arrays; Determine 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, it is determined 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 position of the elongated medical device needs to be detected using the photoelectric signal array.

5. The method for position detection of a slender medical device according to any one of claims 1-4, characterized in that, Before the step of obtaining the photoelectric signal array corresponding to each photoelectric receiver array by continuously acquiring N photoelectric signal values ​​emitted by the photoelectric transmitter at a preset frequency by each photoelectric receiver array, the following steps are included: The photoelectric signals acquired by each of the photoelectric receiving terminals are filtered.

6. The method for position detection of a slender medical device according to any one of claims 1-4, characterized in that, The photoelectric emitting end emits infrared light of a first wavelength, and the photoelectric receiving end receives infrared light of a second wavelength; wherein the first wavelength and the second wavelength are equal.

7. A robot actuator end, characterized in that, A method for performing the position detection of an elongated medical device as described in any one of claims 1-6, comprising: Delivery device for delivering slender medical devices; The photoelectric transmitter is fixedly installed on one side of the delivery path of the elongated medical device; A photoelectric receiving matrix is ​​fixedly installed on the other side of the delivery path of the elongated medical device, and the photoelectric transmitting end is arranged opposite to the photoelectric receiving matrix.

8. The robot actuator end according to claim 7, characterized in that, It also includes a transparent valve body mounting section for mounting the transparent valve body; the elongated medical device moves within the transparent valve body; The photoelectric transmitter and the photoelectric receiver matrix are located outside the transparent valve body.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the position detection method for the elongated medical device as described in any one of claims 1 to 6.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the position detection method for the elongated medical device as described in any one of claims 1 to 6.

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