Catheter system, catheter drive space calculation method, and storage medium

Abstract

The application discloses a catheter system, comprising a processor configured to perform: receiving a desired bending angle and a desired direction angle of a catheter tip; obtaining a correspondence between the desired bending angle, the desired direction angle, a first desired joint angle and a second desired joint angle respectively; calculating the first desired joint angle and the second desired joint angle according to the desired bending angle, the desired direction angle and the correspondence; obtaining an initial driving wire length of the driving wire between the head unit disc and the tail unit disc of the snake joint in a straight line state of the snake joint, a first preset snake coefficient and a second preset snake coefficient; and calculating a target length of each driving wire between the head unit disc and the tail unit disc of the snake joint according to the first desired joint angle, the second desired joint angle, the initial driving wire length, the first preset snake coefficient and the second preset snake coefficient. The application also discloses a driving space calculation method of a catheter and a storage medium. The application can improve the control accuracy of the catheter.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a catheter system, a method for calculating the driving space of a catheter, and a computer-readable storage medium. Background Technology

[0002] Minimally invasive medical techniques primarily aim to reduce damage to patient tissues during medical procedures, offering advantages such as less trauma, less pain, and faster recovery. These techniques can be performed through natural openings in the patient's anatomical structure or surgical incisions, allowing catheter instruments to reach the target tissue location under the control of the catheter system's controller. The catheter instruments are typically flexible and / or steerable, slender catheters that can be inserted into anatomical openings and navigate towards the target area within the patient's anatomy.

[0003] Existing kinematic modeling methods for catheter systems may lead to changes in the length of the drive wire, the length of the catheter, and Young's modulus as usage time increases. This results in a growing deviation between the catheter system and the model, making it impossible to accurately control the catheter. Summary of the Invention

[0004] The main objective of this application is to provide a catheter system, a method for calculating the driving space of the catheter, and a computer-readable storage medium, aiming to solve the technical problem that the deviation between existing catheter systems and models is becoming increasingly large, making it impossible to accurately control the catheter.

[0005] To achieve the above objectives, this application provides a catheter system comprising a robotic arm, a catheter instrument coupled to a power unit of the robotic arm, a user input device communicatively connected to the robotic arm, and a processor. The catheter instrument includes an instrument housing configured to engage with the power unit and a catheter connected to the instrument housing. The instrument housing includes a drive wheel configured to be driven by the power unit and a drive wire with one end wound around the drive wheel and the other end extending along the catheter and fixed to the end of the catheter. The end of the catheter has a serpentine joint through which the drive wire passes, the serpentine joint including a first joint and a second joint perpendicular to each other. The processor is configured to perform the following steps:

[0006] The desired configuration space of the catheter tip is received via the user input device, the desired configuration space including the desired bending angle and the desired orientation angle;

[0007] Obtain the correspondence between the desired bending angle and the desired direction angle and the first desired joint angle corresponding to the first joint and the second desired joint angle corresponding to the second joint, respectively;

[0008] The first expected joint angle and the second expected joint angle are calculated based on the expected bending angle, the expected direction angle, and the corresponding relationship.

[0009] The initial drive wire length, first preset snake bone coefficient, and second preset snake bone coefficient are obtained when the snake bone joint is in a straight state.

[0010] Based on the first desired joint angle, the second desired joint angle, the initial drive wire length, the first preset serpentine coefficient, and the second preset serpentine coefficient, the drive space at the end of the conduit is calculated. The drive space includes the target length of each drive wire between the head and tail unit discs of the serpentine joint.

[0011] Optionally, the formula for expressing the correspondence is as follows:

[0012]

[0013]

[0014] Wherein, α represents the desired direction angle, θ represents the desired bending angle, joint1 represents the first desired joint angle, joint2 represents the second desired joint angle, and r represents the bending radius of the snake joint.

[0015] Optionally, the step of calculating the first desired joint angle and the second desired joint angle based on the desired bending angle, the desired direction angle, and the correspondence includes:

[0016] Based on formulas (1) and (2), the following formulas are derived:

[0017] joint2=joint1*tanα#(3);

[0018] Substituting formula (3) into formula (2), the first desired joint angle is calculated:

[0019]

[0020] Substituting formula (4) into formula (3), the second desired joint angle is calculated:

[0021]

[0022] Optionally, the drive wire includes a first drive wire and a second drive wire arranged adjacent to each other, the first drive wire being configured to drive the first joint to rotate, and the second drive wire being configured to drive the second joint to rotate; the step of calculating the drive space at the end of the catheter based on the first desired joint angle, the second desired joint angle, the initial drive wire length, the first preset serpentine coefficient, and the second preset serpentine coefficient includes:

[0023] Calculate the first product of the first preset snake bone coefficient and the first desired joint angle, and the second product of the second preset snake bone coefficient and the second desired joint angle;

[0024] The sum of the first product and the initial drive wire length, and the sum of the second product and the initial drive wire length, are calculated to obtain the target lengths of the first drive wire and the second drive wire between the head and tail unit discs of the snake joint, respectively. The formulas expressing the target lengths of the first drive wire and the second drive wire between the head and tail unit discs of the snake joint are as follows:

[0025] l1 = k1 * joint1 + l o ;

[0026] l2=k2*joint2+l o ;

[0027]

[0028] Wherein, l1 represents the target length of the first drive wire between the head and tail unit discs of the snake joint, l2 represents the target length of the second drive wire between the head and tail unit discs of the snake joint, k1 represents the first preset snake coefficient, k2 represents the second preset snake coefficient, joint1 represents the first desired joint angle, and joint2 represents the second desired joint angle.

[0029] Optionally, the driving wire includes a first driving wire and a third driving wire, and a second driving wire and a fourth driving wire, which are arranged opposite to each other. The first driving wire and the third driving wire are respectively configured to drive the first joint to rotate in two directions, and the second driving wire and the fourth driving wire are respectively configured to drive the second joint to rotate in two directions. The step of calculating the driving space at the end of the catheter based on the first desired joint angle, the second desired joint angle, the initial driving wire length, the first preset serpentine coefficient, and the second preset serpentine coefficient, wherein the driving space includes the length of each of the driving wires, includes:

[0030] Calculate the first product of the first preset snake bone coefficient and the first desired joint angle, the second product of the second preset snake bone coefficient and the second desired joint angle, take the negative value of the first product to obtain the third product, and take the negative value of the second product to obtain the fourth product.

[0031] The sums of the first product, the second product, the third product, and the fourth product with the initial drive wire length are calculated respectively to obtain the target lengths of the first drive wire, the second drive wire, the third drive wire, and the fourth drive wire between the head and tail unit discs of the snake joint; wherein, the formulas for expressing the target lengths of the first drive wire, the second drive wire, the third drive wire, and the fourth drive wire between the head and tail unit discs of the snake joint are as follows:

[0032] l1=(k1)*joint1+l o ;

[0033] l2=(k2)*joint2+l o ;

[0034] l3=(-k1)*joint1+l o ;

[0035] l4=(-k2)*joint2+l o ;

[0036]

[0037] Wherein, l1 represents the target length of the first drive wire between the head and tail unit discs of the snake joint, l2 represents the target length of the second drive wire between the head and tail unit discs of the snake joint, l3 represents the target length of the third drive wire between the head and tail unit discs of the snake joint, l4 represents the target length of the fourth drive wire between the head and tail unit discs of the snake joint, k1 represents the first preset snake joint coefficient, k2 represents the second preset snake joint coefficient, joint1 represents the first desired joint angle, and joint2 represents the second desired joint angle.

[0038] Optionally, the processor is configured to perform the following specific steps:

[0039] The first actual joint angle and the second actual joint angle are calculated by using the formulas expressing the target length of the first drive wire between the first and second drive wires in the snake joint and the target length of the second drive wire between the first and second drive wires in the snake joint, or by using the formulas expressing the target lengths of the first drive wire, the second drive wire, the third drive wire and the fourth drive wire between the first and second drive wires in the snake joint.

[0040] Substitute the first actual joint angle and the second actual joint angle into the expression formula (2) of the corresponding joint to calculate the actual bending angle.

[0041] Substitute the actual bending angle into the expression formula (1) of the corresponding joint to calculate the actual direction angle.

[0042] The formula for expressing the actual bending angle is as follows:

[0043]

[0044] The formula for expressing the actual direction angle is as follows:

[0045]

[0046] Wherein, θ′ represents the actual bending angle, joint1′ represents the first actual joint angle, joint2′ represents the second actual joint angle, and α′ represents the actual direction angle.

[0047] Optionally, the processor is configured to perform the following specific steps:

[0048] Obtain the number of unit discs of the snake-bone joint;

[0049] Based on the number of unit discs, the first desired joint angle, the second desired joint angle, the initial drive wire length, the first preset serpentine coefficient, and the second preset serpentine coefficient, the drive space at the end of the catheter is calculated, and the drive space includes the length of each of the drive wires.

[0050] Optionally, the formula for expressing the correspondence is as follows:

[0051]

[0052]

[0053] Where n represents the number of unit discs in the snake-bone joint, α represents the desired orientation angle, θ represents the desired bending angle, joint1 represents the first desired joint angle, and joint2 represents the second desired joint angle. This indicates the bending radius of one of the unit disks.

[0054] Optionally, the step of calculating the first desired joint angle and the second desired joint angle based on the desired bending angle, the desired direction angle, and the correspondence includes:

[0055] Based on formulas (1) and (2), the following formulas are derived:

[0056]

[0057] Substituting formula (3) into formula (2), the first desired joint angle is calculated:

[0058]

[0059] Substituting formula (4) into formula (3), the second desired joint angle is calculated:

[0060]

[0061] Optionally, the drive wire includes a first drive wire and a second drive wire arranged adjacent to each other, the first drive wire being configured to drive the first joint to rotate, and the second drive wire being configured to drive the second joint to rotate; the step of calculating the drive space at the end of the catheter based on the number of unit discs, the first desired joint angle, the second desired joint angle, the initial drive wire length, the first preset serpentine coefficient, and the second preset serpentine coefficient, wherein the drive space includes the length of each of the drive wires, includes:

[0062] Calculate the number of unit discs, the first product of the first preset serpentine coefficient and the first desired joint angle, and the second product of the number of unit discs, the second preset serpentine coefficient and the second desired joint angle;

[0063] The sum of the first product and the initial drive wire length, and the sum of the second product and the initial drive wire length, are calculated to obtain the target lengths of the first drive wire and the second drive wire between the head and tail unit discs of the snake joint, respectively. The formulas expressing the lengths of the first and second drive wires between the head and tail unit discs of the snake joint are as follows:

[0064] l1 = n * k1 * joint1 + l o ;

[0065] l2=n*k2*joint2+l o ;

[0066]

[0067] Wherein, l1 represents the target length of the first drive wire between the head and tail unit discs of the snake joint, l2 represents the target length of the second drive wire between the head and tail unit discs of the snake joint, k1 represents the first preset snake coefficient, k2 represents the second preset snake coefficient, joint1 represents the first desired joint angle, and joint2 represents the second desired joint angle.

[0068] Optionally, the driving wire includes a first driving wire and a third driving wire, and a second driving wire and a fourth driving wire, which are arranged opposite to each other. The first driving wire and the third driving wire are respectively configured to drive the first joint to rotate in two directions, and the second driving wire and the fourth driving wire are respectively configured to drive the second joint to rotate in two directions. The step of calculating the driving space at the end of the catheter based on the number of unit discs, the first desired joint angle, the second desired joint angle, the initial driving wire length, the first preset serpentine coefficient, and the second preset serpentine coefficient, wherein the driving space includes the length of each driving wire, includes:

[0069] Calculate the first product of the first preset snake bone coefficient and the first desired joint angle, the second product of the second preset snake bone coefficient and the second desired joint angle, take the negative value of the first product to obtain the third product, and take the negative value of the second product to obtain the fourth product.

[0070] The sums of the first product, the second product, the third product, and the fourth product with the initial drive wire length are calculated respectively to obtain the target lengths of the first drive wire, the second drive wire, the third drive wire, and the fourth drive wire between the head and tail unit discs of the snake joint; wherein, the formulas for expressing the target lengths of the first drive wire, the second drive wire, the third drive wire, and the fourth drive wire between the head and tail unit discs of the snake joint are as follows:

[0071] l1 = n*(k1)*joint1 + l o ;

[0072] l2=n*(k2)*joint2+l o ;

[0073] l3=n*(-k1)*joint1+l o ;

[0074] l4=n*(-k2)*joint2+l o ;

[0075]

[0076] Wherein, l1 represents the target length of the first drive wire between the head and tail unit discs of the snake joint, l2 represents the target length of the second drive wire between the head and tail unit discs of the snake joint, l3 represents the target length of the third drive wire between the head and tail unit discs of the snake joint, l4 represents the target length of the fourth drive wire between the head and tail unit discs of the snake joint, k1 represents the first preset snake joint coefficient, k2 represents the second preset snake joint coefficient, joint1 represents the first desired joint angle, and joint2 represents the second desired joint angle.

[0077] Optionally, the processor is configured to perform the following specific steps:

[0078] The first actual joint angle and the second actual joint angle are calculated by using the formulas expressing the target length of the first drive wire between the first and second drive wires in the snake joint and the target length of the second drive wire between the first and second drive wires in the snake joint, or by using the formulas expressing the target lengths of the first drive wire, the second drive wire, the third drive wire and the fourth drive wire between the first and second drive wires in the snake joint.

[0079] Substitute the first actual joint angle and the second actual joint angle into the expression formula (2) of the corresponding joint to calculate the actual bending angle.

[0080] Substitute the actual bending angle into the expression formula (1) of the corresponding joint to calculate the actual direction angle.

[0081] The formula for expressing the actual bending angle is as follows:

[0082]

[0083] The formula for expressing the actual direction angle is as follows:

[0084]

[0085] Wherein, θ′ represents the actual bending angle, joint1′ represents the first actual joint angle, joint2′ represents the second actual joint angle, n represents the number of unit disks, and α′ represents the actual direction angle.

[0086] This application also provides a method for calculating the driving space of a catheter, wherein the distal end of the catheter has a serpentine joint through which a driving wire passes, the serpentine joint comprising a first joint and a second joint perpendicular to each other; the method for calculating the driving space of the catheter includes the following steps:

[0087] The desired configuration space of the catheter tip is received via a user input device, the desired configuration space including the desired bending angle and the desired orientation angle;

[0088] Obtain the correspondence between the desired bending angle and the desired direction angle and the first desired joint angle corresponding to the first joint and the second desired joint angle corresponding to the second joint, respectively;

[0089] The first expected joint angle and the second expected joint angle are calculated based on the expected bending angle, the expected direction angle, and the corresponding relationship.

[0090] The initial drive wire length, first preset snake bone coefficient, and second preset snake bone coefficient are obtained when the snake bone joint is in a straight state.

[0091] Based on the first desired joint angle, the second desired joint angle, the initial drive wire length, the first preset serpentine coefficient, and the second preset serpentine coefficient, the drive space at the end of the conduit is calculated. The drive space includes the target length of each drive wire between the head and tail unit discs of the serpentine joint.

[0092] This application also provides a computer-readable storage medium storing computer program instructions configured to be loaded by a processor and executed to implement the steps of the method described above.

[0093] The catheter system, catheter drive space calculation method, and computer-readable storage medium provided in this application calculate the target length of each drive wire between the head and tail unit discs of the snake joint based on a first desired joint angle, a second desired joint angle, an initial drive wire length, a first preset snake joint coefficient, and a second preset snake joint coefficient. In this way, changes in drive wire length, catheter length, Young's modulus, and other factors due to increased catheter device usage time are ignored or filtered out, thereby improving the accuracy of catheter control. Attached Figure Description

[0094] Figure 1 A schematic diagram of a catheter system provided in one embodiment of this application is shown;

[0095] Figure 2 A schematic diagram of a catheter device and power unit provided in an embodiment of this application is shown;

[0096] Figure 3 A schematic diagram of a catheter device provided in one embodiment of this application is shown;

[0097] Figure 4 A schematic diagram of the structure of a snake-bone joint according to an embodiment of this application is shown.

[0098] Figure 5A flowchart illustrating the method for calculating the driving space of a conduit according to the first embodiment of this application is shown.

[0099] Figure 6 A simplified schematic diagram of the snake-bone joint provided in the first embodiment of this application is shown;

[0100] Figure 7 This invention provides a schematic diagram of a snake-bone joint in a straight line state according to an embodiment of the present application.

[0101] Figure 8 A schematic diagram showing the fixed positions of the first and second drive wires of this application on the last unit disc in the snake joint is shown;

[0102] Figure 9 It shows Figure 5 A detailed flowchart of an embodiment of step S15;

[0103] Figure 10 A schematic diagram showing the fixed positions of the first, second, third, and fourth drive wires of this application on the last unit disc in the snake joint is shown.

[0104] Figure 11 It shows Figure 5 A detailed flowchart of another embodiment of step S15;

[0105] Figure 12 A flowchart illustrating a method for calculating the driving space of a conduit according to another embodiment of this application is shown.

[0106] Figure 13 A flowchart illustrating the method for calculating the driving space of a conduit according to the second embodiment of this application is shown.

[0107] Figure 14 A simplified schematic diagram of the snake-bone joint provided in the second embodiment of this application is shown;

[0108] Figure 15 It shows Figure 13 A detailed flowchart of an embodiment of step S26;

[0109] Figure 16 It shows Figure 13 A detailed flowchart of another embodiment of step S26;

[0110] Figure 17 This application shows a schematic diagram of the control system of a catheter system according to an embodiment of the present application;

[0111] Figure 18 A schematic diagram of a computer-readable storage medium provided in one embodiment of this application is shown.

[0112] 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

[0113] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0114] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0115] In this application, unless otherwise expressly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0116] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. If the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in this application.

[0117] Figure 1An embodiment of the catheter system 1000 provided in this application is illustrated. The catheter system 1000 includes an imaging cart 100, a trolley 200 connected to the imaging cart 100, a user input device 300, a catheter instrument 400 that can be attached to the trolley 200, a sensor system 500 connected to the trolley 200, and a control system 600 for controlling the catheter instrument 400, the user input device 300, the sensor system 500, and the imaging cart 100. The user input device 300 can be wired or wirelessly connected to the trolley 200. When an operator performs various procedures on a patient near the trolley 200, they can trigger control commands by operating the user input device 300, which, driven by the trolley 200, controls the catheter instrument 400 to move forward, retract, and bend / turn.

[0118] The trolley 200 can typically be moved to the side of the operating table to engage the catheter instrument 400. Under control commands, it controls the catheter instrument 400 to move vertically, horizontally, or in non-vertical and non-horizontal directions, thus providing a better preoperative preparation angle for the operation of the catheter instrument 400. The control commands can be triggered by the operator through the user input device 300, or by the operator directly clicking or pressing buttons on the trolley 200. In other embodiments, the control commands can also be voice control or commands triggered through a force feedback mechanism.

[0119] like Figure 1 As shown, the trolley 200 may further include a base 210, a sliding seat 220 that can move up and down along the base 210, and two robotic arms 230 fixedly connected to the sliding seat 220. Each robotic arm 230 may include multiple arm segments connected at joints, providing multiple degrees of freedom, for example, seven degrees of freedom corresponding to seven arm segments. A power unit (not shown) is installed at the end of each robotic arm 230. The power unit engages the catheter instrument 400 and, under the driving action of the power unit, controls the end of the catheter instrument 400 to bend and turn accordingly. The two robotic arms 230 may have identical or partially identical structures; one robotic arm 230 engages the internal catheter instrument 410, and the other robotic arm 230 engages the external catheter instrument 420. During installation, the external catheter device 420 can be installed first. After the external catheter device 420 is installed, the catheter of the internal catheter device 410 is inserted into the lumen of the catheter of the external catheter device 420.

[0120] The sensor system 500 has one or more subsystems for receiving information about the catheter device 400. The subsystems may include: a position sensor system; a shape sensor system for determining the position, orientation, velocity, rate, pose, and / or shape of the distal end of the catheter device 400 and / or along one or more segments of the catheter that may constitute the catheter device 400; and / or a visualization system for capturing images from a camera at the distal end of the catheter device 400.

[0121] The imaging vehicle 100 may be equipped with a display system 110 and a flushing system (not shown in the figure), etc. The display system 110 is used to display images or representations of the surgical site and catheter instruments 400 generated by the subsystems of the sensor system 500. It can also display real-time images of the surgical site and catheter instruments 400 captured by a visualization system. Image data from imaging technologies such as computed tomography (CT), magnetic resonance imaging (MRI), optical coherence tomography (OCT), and ultrasound can also be used to present images of the surgical site recorded preoperatively or intraoperatively. Preoperative or intraoperative image data can be presented as two-dimensional, three-dimensional, or four-dimensional (e.g., time-based or rate-based information) images and / or as images from models created based on preoperative or intraoperative image datasets, and virtual navigation images can also be displayed. In the virtual navigation images, the actual position of the catheter instruments 400 is registered with the preoperative images to present a virtual image of the catheter instruments 400 within the surgical site to the operator from the outside.

[0122] The control system 600 includes at least one memory and at least one processor communicatively connected to the robotic arm. It is understood that the control system 600 can be integrated into the trolley 200 or the imaging cart 100, or it can be set up independently. The control system 600 can support wireless communication protocols such as IEEE 802.11, IrDA, Bluetooth, HomeRF, DECT, and wireless telemetry. The control system 600 can transmit one or more signals instructing the catheter device 400 to move, which is then moved by the power unit. The catheter device 400 can extend to the surgical site within the body via an opening in the patient's natural cavity or a surgical incision.

[0123] Furthermore, the control system 600 may include a mechanical control system (not shown in the figure) and an image processing system (not shown in the figure). The mechanical control system is used to control the movement of the catheter instrument 400, and therefore can be integrated into the trolley 200. The image processing system is used for virtual navigation path planning, and therefore can be integrated into the imaging vehicle 100. Of course, the various subsystems of the control system 600 are not limited to the specific cases listed above, and can be reasonably set according to actual conditions. Among them, the image processing system can image the surgical site based on images of the surgical site recorded before or during the operation, using the above-mentioned imaging technology. Software that can be used in conjunction with manual input can also convert the recorded images into two-dimensional or three-dimensional synthetic images of parts or the entire anatomical organ or segment. During the virtual navigation procedure, the sensor system 500 can be used to calculate the position of the catheter instrument 400 relative to the patient's anatomical structure. This position can be used to generate external tracking images and internal virtual images of the patient's anatomical structure, realizing the registration of the actual position of the catheter instrument 400 with the preoperative image, thereby presenting a virtual image of the catheter instrument 400 within the surgical site to the operator from the outside.

[0124] The internal catheter device 410 and the external catheter device 420 have largely the same structure, each having a slender and flexible internal catheter 41 and an external catheter 42, respectively. The diameter of the external catheter 42 is slightly larger than that of the internal catheter 41, so that the internal catheter 41 can pass through the lumen of the external catheter 42 and provide some support for the internal catheter 41. This allows the internal catheter 41 to reach the target location in the patient's body, so as to facilitate operations such as tissue or cell sampling from the target location.

[0125] Certain movements of the user input device 300 can cause corresponding movements of the catheter instrument 400. For example, when the operator moves the direction lever of the user input device 300 up or down, the movement of the direction lever can be mapped to a corresponding pitch movement of the end of the catheter instrument 400; when the operator moves the direction lever of the user input device 300 left or right, the movement of the direction lever can be mapped to a corresponding yaw movement of the end of the catheter instrument 400. In this embodiment, the user input device 300 can control the end of the catheter instrument 400 to move within a 360° spatial range.

[0126] Figure 2 and Figure 3An embodiment of the catheter device 400 provided in this application is illustrated. The catheter device 400 is configured to engage with a power unit 240 of a robotic arm 230. The catheter device 400 includes an instrument housing 45 configured to engage with the power unit 240 and a catheter 48 connected to the instrument housing 45. "Engagement" refers to a state where, when the instrument housing 45 is installed in the power unit 240, the driving force of the power unit 240 can be transmitted to the instrument housing 45, enabling the catheter 48 to move normally. For example, under the driving force of the power unit 240, the end of the catheter 48 can bend or change direction.

[0127] The instrument box 45 includes multiple drive wheels 451 configured to be driven by a power unit 240 and multiple drive wires 452. The power unit 240 includes multiple drive motors 241, and the drive motors 241, drive wheels 451, and drive wires 452 are arranged in a one-to-one correspondence. Each drive wheel 451 is configured to engage with a corresponding drive motor 241. That is, when the instrument box 45 is installed on the power unit 240, the corresponding drive motor 241 can drive the drive wheel 451 to rotate, and the corresponding drive wire 452 is wound on the drive wheel 451. The movable part of the corresponding drive wire 452, that is, the part not wound on the drive wheel 451, extends into the catheter 48, extends along the length of the catheter 48, and is finally fixed to the end of the catheter 48.

[0128] In this application, the end, also referred to as the distal end or head, refers to the end away from the instrument box 45; the anterior end, also referred to as the proximal end or tail, refers to the end close to the instrument box 45.

[0129] A portion of the conduit 48, including its distal end, is a controllable segment 49, the distal end of which is the distal end of the conduit 48. The controllable segment 49 can be a joint assembly with high stiffness in the extension direction and low stiffness in the bending direction, capable of bending under the control of the drive wire 452, thereby achieving steering of the conduit 48. In some embodiments, this joint assembly may be referred to as a snake-bone joint.

[0130] Figure 4This application illustrates a snake-bone joint according to an embodiment of the present application. The snake-bone joint includes a plurality of sequentially connected unit discs 490. It is understood that the drive wire passes sequentially through the plurality of unit discs 490, and its end is fixed to the last unit disc 490. These unit discs 490 form a plurality of mutually perpendicular first joints 491 and second joints 492 based on different connection directions. Specifically, the rotation axis of the first joint 491 is perpendicular to the rotation axis of the second joint 492. Through the arrangement of the first joints 491 and the second joints 492, the conduit 48 can be rotated in at least two directions, thereby achieving rotation in four degrees of freedom. It is understood that when there are three or more drive wires, by applying different forces to different drive wires, the conduit 48 can be rotated at any angle in space.

[0131] like Figure 5 As shown, in the first embodiment, the processor of the control system 600 is configured to perform the following steps to implement the duct drive space calculation method provided in this application. The method includes:

[0132] Step S11: Receive the desired configuration space of the catheter tip via the user input device, the desired configuration space including the desired bending angle and the desired orientation angle;

[0133] In this embodiment, the operator can input duct turning commands by operating at least one of the input devices such as a direction lever, buttons, or voice input on the user input device.

[0134] Taking a directional lever as an example, the operator can move the lever in any direction within the operating plane. This operation, under the action of a pressure sensor within the user input device, is converted into a conduit steering command. Specifically, this involves acquiring a first voltage and a second voltage on two mutually perpendicular axes of the user input device (i.e., the axes of the operating plane). The directional angle operated by the operator is calculated based on the ratio of the first voltage and the second voltage. Specifically, the desired directional angle of the operator's operation can be obtained by calculating the arctangent function or the arccotangent function of this ratio.

[0135] The arithmetic square root of the sum of the squares of the first and second voltages is calculated as the composite value of the first and second voltages. This composite value reflects the force of the operator's operation. Based on this composite value, the bending speed at the end of the conduit can be calculated; for example, the product of the composite value and a preset coefficient can be used as the bending speed. The desired bending angle of the operator's operation is obtained by integrating the bending speed with respect to the command holding time, which refers to the duration of the same operator operation.

[0136] The control interval is the interval between the current catheter tip turning control and the previous catheter tip turning control. In some embodiments, only one catheter turning command exists within each control interval, and the sampling interval of the user input device is fixed. In this case, the integration process can be omitted, and the bending speed can be directly used as the operator's desired bending angle.

[0137] To reduce the impact of operator jitter and noise from user input devices, the first and second voltages can be smoothed and filtered before calculating the operator's desired direction angle and desired bending angle.

[0138] Step S12: Obtain the correspondence between the desired bending angle and the desired direction angle and the first desired joint angle corresponding to the first joint and the second desired joint angle corresponding to the second joint, respectively;

[0139] In this embodiment, when the first joint 491 rotates due to the operator's operation, a first desired joint angle is formed; and when the second joint 492 rotates, a second desired joint angle is formed.

[0140] In this embodiment, the snake-bone joint can be considered as a whole; that is, the specific number of unit discs 490 in the snake-bone joint is not considered, but the relevant parameters are obtained by treating the snake-bone joint as a whole. In this case, the correspondence between the desired bending angle and the desired direction angle and the first desired joint angle corresponding to the first joint 491 and the second desired joint angle corresponding to the second joint 492, respectively, can be expressed as follows:

[0141]

[0142]

[0143] Wherein, α represents the desired direction angle, θ represents the desired bending angle, joint1 represents the first desired joint angle, joint2 represents the second desired joint angle, and r represents the bending radius of the snake joint.

[0144] like Figure 6As shown, coordinate systems (X0, Y0, Z0) and (X1, Y1, Z1) can be constructed on the head and tail unit disks 490 of the snake-bone joint, respectively. The bending radius on the lower side coincides with the coordinate axis X0, while the bending radius on the upper side deviates from the coordinate axis X1 due to the directional deflection of the unit disk 490. The angle between these two bending radii is the desired direction angle α, and the angle between the two bending radii is the desired bending angle θ. It can be understood that the desired bending angle θ is the sum of the first desired joint angles, i.e., desired bending angle θ = sum(joint1); and the desired direction angle α is the sum of the second desired joint angles, i.e., desired direction angle α = sum(joint2). Furthermore, to avoid the coordinate axis Y1 affecting the appended... Figure 6 The diagram shows that the Y1 coordinate axis has been omitted.

[0145] Step S13: Calculate the first desired joint angle and the second desired joint angle based on the desired bending angle, the desired direction angle, and the corresponding relationship;

[0146] In this embodiment, the following formula can be derived based on the above formulas (1) and (2):

[0147] joint2=joint1*tanα#(3);

[0148] Substituting formula (3) into formula (2) above, the first desired joint angle can be calculated:

[0149]

[0150] Substituting formula (4) into formula (3) obtained above, the second desired joint angle can be calculated:

[0151]

[0152] Step S14: Obtain the initial drive wire length, first preset snake bone coefficient, and second preset snake bone coefficient of the drive wire between the head and tail unit discs of the snake bone joint when the snake bone joint is in a straight state.

[0153] In this embodiment, Figure 7 The diagram shows the snake-like joint in a straight position, with the initial drive wire length l between the head and tail unit discs 490 of the snake-like joint. o Specifically, the distance between the outer sides of the first and last unit discs 490 can be taken as the initial drive wire length. The first preset serpentine coefficient can characterize the ratio between the length change of the drive wire at the serpentine joint and the first joint angle, and the second preset serpentine coefficient can characterize the ratio between the length change of the drive wire at the serpentine joint and the second joint angle.

[0154] Step S15: Calculate the driving space at the end of the conduit based on the first desired joint angle, the second desired joint angle, the initial drive wire length, the first preset serpentine coefficient, and the second preset serpentine coefficient. The driving space includes the target length of each drive wire between the head and tail unit discs of the serpentine joint.

[0155] The drive wire may include two drive wires, or three or more drive wires. In one embodiment, the drive wire includes a first drive wire and a second drive wire arranged adjacent to each other. The first drive wire is configured to drive the first joint 491 to rotate in a first direction, such as driving the end of the conduit 48 to perform a pitching motion; the second drive wire is configured to drive the second joint 492 to rotate in a second direction, such as driving the end of the conduit 48 to perform a yaw motion. That is, the first drive wire and the second drive wire can achieve the position where the end of the conduit 48 can move in either direction. For example, as... Figure 8 As shown, the unit disk 490 has a center point O, and the first drive wire and the second drive wire are fixed at positions A and B on the last unit disk 490, respectively. Any position that satisfies ∠AOB=(0, 180°) is acceptable.

[0156] like Figure 9 As shown, when the drive wire includes a first drive wire and a second drive wire arranged adjacent to each other, step S15 may further include:

[0157] Step S151: Calculate the first product of the first preset snake bone coefficient and the first desired joint angle, and the second product of the second preset snake bone coefficient and the second desired joint angle;

[0158] In this embodiment, as described above, since the first preset serpentine coefficient represents the ratio between the length change of the drive wire at the serpentine joint and the first joint angle, and the second preset serpentine coefficient represents the ratio between the length change of the drive wire at the serpentine joint and the second joint angle, the length change of the corresponding drive wire at the serpentine joint can be obtained by calculating the first product of the first preset serpentine coefficient and the first desired joint angle, and the second product of the second preset serpentine coefficient and the second desired joint angle.

[0159] Step S152: Calculate the sum of the first product and the initial drive wire length, and the sum of the second product and the initial drive wire length, to obtain the target lengths of the first drive wire and the second drive wire between the head and tail unit discs of the snake joint, respectively; wherein, the formulas for expressing the length of the first drive wire and the target length of the second drive wire between the head and tail unit discs of the snake joint are as follows:

[0160] l1 = k1 * joint1 + l o ;

[0161] l2=k2*joint2+l o ;

[0162]

[0163] Wherein, l1 represents the target length of the first drive wire between the head and tail unit discs 490 of the snake joint, l2 represents the target length of the second drive wire between the head and tail unit discs 490 of the snake joint, k1 represents the first preset snake coefficient, k2 represents the second preset snake coefficient, joint1 represents the first desired joint angle, and joint2 represents the second desired joint angle; and k1*joint1 represents the length change of the first drive wire at the snake joint, and k2*joint2 represents the length change of the second drive wire at the snake joint.

[0164] In another embodiment, the drive wire includes a first drive wire and a third drive wire disposed opposite to each other, and a second drive wire and a fourth drive wire disposed opposite to each other, with the first drive wire being adjacent to the second drive wire and the fourth drive wire respectively. In this embodiment, the first drive wire and the third drive wire are respectively configured to drive the first joint 491 to rotate in two directions, such as driving the end of the conduit 48 to perform a pitching motion; the second drive wire and the fourth drive wire are respectively configured to drive the second joint 492 to rotate in two directions, such as driving the end of the conduit 48 to perform a yaw motion. Figure 10 As shown, for example, the unit disk 490 has a center point O, and the fixed positions of the first drive wire, the second drive wire, the third drive wire, and the fourth drive wire on the last unit disk 490 are A, B, C, and D respectively, with ∠AOC = 180°, ∠BOD = 180°, and ∠AOB = (0, 90°] being any position. Of course, in other embodiments, any position satisfying ∠AOC = (0, 180°), ∠BOD = (0, 180°), and ∠AOB = (0, 90°) is acceptable.

[0165] like Figure 11As shown, when the drive wire includes a first drive wire and a third drive wire arranged opposite to each other, and a second drive wire and a fourth drive wire arranged opposite to each other, step S15 may further include:

[0166] Step S153: Calculate the first product of the first preset snake bone coefficient and the first expected joint angle, the second product of the second preset snake bone coefficient and the second expected joint angle, take the negative value of the first product to obtain the third product, and take the negative value of the second product to obtain the fourth product.

[0167] In this embodiment, as described above, since the first preset serpentine coefficient represents the ratio between the length change of the drive wire at the serpentine joint and the first joint angle, and the second preset serpentine coefficient represents the ratio between the length change of the drive wire at the serpentine joint and the second joint angle, the length change of the corresponding drive wire at the serpentine joint can be obtained by calculating the first product of the first preset serpentine coefficient and the first desired joint angle, calculating the second product of the second preset serpentine coefficient and the second desired joint angle, taking the negative value of the first product to obtain the third product, and taking the negative value of the second product to obtain the fourth product.

[0168] Step S154: Calculate the sum of the first product, the second product, the third product, and the fourth product with the initial drive wire length to obtain the target lengths of the first drive wire, the second drive wire, the third drive wire, and the fourth drive wire between the head and tail unit discs of the snake joint; wherein, the formula for expressing the target lengths of the first drive wire, the second drive wire, the third drive wire, and the fourth drive wire between the head and tail unit discs of the snake joint is as follows:

[0169] l1=(k1)*joint1+l o ;

[0170] l2=(k2)*joint2+l o ;

[0171] l3=(-k1)*joint1+l o ;

[0172] l4=(-k2)*joint2+l o ;

[0173]

[0174] Wherein, l1 represents the target length of the first drive wire between the first and last unit discs of the snake joint, l2 represents the target length of the second drive wire between the first and last unit discs of the snake joint, l3 represents the target length of the third drive wire between the first and last unit discs of the snake joint, l4 represents the target length of the fourth drive wire between the first and last unit discs of the snake joint, k1 represents the first preset snake joint coefficient, k2 represents the second preset snake joint coefficient, joint1 represents the first desired joint angle, and joint2 represents the second desired joint angle; and (k1)*joint1 represents the length change of the first drive wire at the snake joint, (k2)*joint2 represents the length change of the second drive wire at the snake joint, (-k1)*joint1 represents the length change of the third drive wire at the snake joint, and (-k2)*joint2 represents the length change of the fourth drive wire at the snake joint. It is understood that the first drive wire and the third drive wire have the same length change at the snake joint, but drive the first joint 491 to rotate in opposite directions; similarly, the second drive wire and the fourth drive wire have the same length change at the snake joint, but drive the second joint 492 to rotate in opposite directions.

[0175] Existing technologies typically calculate the length or variation of the overall drive wire, while this application focuses on calculating the length or length variation of the drive wire located at the snake-like joint. Then, based on the relationship between the drive wire length, motor position, and a preset conversion coefficient, the motor position is obtained, and the motor is controlled to rotate to the corresponding position, ultimately achieving bending at the end of the catheter 48. In this case, changes in drive wire length, catheter length, Young's modulus, etc., due to increased catheter usage time are ignored or filtered out, thereby improving the accuracy of catheter control. Furthermore, in this embodiment, the snake-like joint is considered as a whole; that is, the specific number of unit discs in the snake-like joint is disregarded, and its relevant parameters are obtained by treating the snake-like joint as a whole. The target length of each drive wire between the first and last unit discs of the snake-like joint is then calculated. This makes the solution versatile and adaptable to different models and sizes of snake-like joints.

[0176] Based on the first embodiment, such as Figure 12 As shown, in one embodiment, step S50 may be followed by:

[0177] Step S16: Calculate the first actual joint angle and the second actual joint angle based on the expression formulas of the target length of the first drive wire between the first and second drive wires in the snake joint and the target length of the second drive wire between the first and second drive wires in the snake joint, or based on the expression formulas of the target lengths of the first drive wire, the second drive wire, the third drive wire and the fourth drive wire between the first and second drive wires in the snake joint.

[0178] Step S17: Substitute the first actual joint angle and the second actual joint angle into the expression formula (2) of the corresponding joint to calculate the actual bending angle.

[0179] Step S18: Substitute the actual bending angle into the expression formula (1) of the corresponding joint to calculate the actual direction angle.

[0180] The formula for expressing the actual bending angle is as follows:

[0181]

[0182] The formula for expressing the actual direction angle is as follows:

[0183]

[0184] Wherein, θ′ represents the actual bending angle, joint1′ represents the first actual joint angle, joint2′ represents the second actual joint angle, and α′ represents the actual direction angle.

[0185] This embodiment calculates the actual bending angle and actual orientation angle of the catheter tip after rotation based on the calculated target length of each drive wire between the head and tail unit discs of the snake-like joint. By presenting the actual bending angle and actual orientation angle to the operator as specific values ​​or through image processing, the operator can more intuitively see the actual effect of their manipulation of the catheter tip. This not only makes the operator's operation more intuitive but also helps improve the operator's understanding of the catheter instrument shape during endoscopic surgeries.

[0186] In the second embodiment, the processor of the control system 600 is configured to perform the following steps to implement the duct drive space calculation method provided in this application. The difference between this embodiment and the first embodiment is that in this embodiment, the snake-like joint may include n unit disks 490; that is, this embodiment can be applied to snake-like joints of different lengths, whether long or short, thus offering greater flexibility and accuracy. Figure 13 As shown, this method includes:

[0187] Step S21: Receive the desired configuration space of the catheter tip via the user input device, the desired configuration space including the desired bending angle and the desired orientation angle;

[0188] Step S21 in this embodiment is the same as step S11 in the first embodiment, and will not be described again here.

[0189] Step S22: Obtain the number of unit discs of the snake bone joint;

[0190] In this embodiment, the number of unit discs 490 is known and can be retrieved from the factory information of the catheter device.

[0191] Step S23: Obtain the correspondence between the desired bending angle and the desired direction angle and the first desired joint angle corresponding to the first joint and the second desired joint angle corresponding to the second joint, respectively;

[0192] Compared to the first embodiment, this embodiment takes into account the specific number of unit discs in the snake-bone joint, therefore, it can be applied to snake-bone joints of different lengths. The correspondence can be represented as follows:

[0193]

[0194]

[0195] Where n represents the number of unit discs in the snake-bone joint, α represents the desired orientation angle, θ represents the desired bending angle, joint1 represents the first desired joint angle, and joint2 represents the second desired joint angle. This indicates the bending radius of one of the unit disks.

[0196] like Figure 14 As shown, coordinate systems (X0, Y0, Z0), ..., (X...) can be sequentially constructed on each or multiple unit disks of the snake-bone joint. i Y i Z i The curvature radius of each pair of adjacent unit disks located on the lower side is perpendicular to the X-axis. i The bending radius on the upper side coincides with the coordinate axis X due to the directional deflection of the unit disk. i+1 Deviation, at this point, the bending radius located on the upper side is relative to the X-axis. i+1The angle between the two bend radii is the second expected joint angle joint2, and the angle between the two bend radii is the first expected joint angle joint1. The expected bend angle θ can be understood as the sum of the first expected joint angles, i.e., expected bend angle θ = sum(joint1) = n * joint1; the expected direction angle α can be understood as the sum of the second expected joint angles, i.e., expected direction angle α = sum(joint2) = n * joint2. It should be understood that the magnitudes of each first expected joint angle joint1 are the same, and the magnitudes of each second expected joint angle joint2 are also the same. Based on this, the bend radius of each unit disk... The sizes between them are also the same.

[0197] Step S24: Calculate the first desired joint angle and the second desired joint angle based on the desired bending angle, the desired direction angle, and the corresponding relationship;

[0198] In this embodiment, the following formula can be derived from the above formulas (1) and (2):

[0199]

[0200] Substituting formula (3) into formula (2) above, the first desired joint angle can be calculated:

[0201]

[0202] Substituting formula (4) into formula (3) obtained above, the second desired joint angle can be calculated:

[0203]

[0204] Step S25: Obtain the initial drive wire length, first preset snake bone coefficient, and second preset snake bone coefficient of the drive wire between the head and tail unit discs of the snake bone joint when the snake bone joint is in a straight state.

[0205] Step S24 in this embodiment is the same as step S14 in the first embodiment, and will not be described again here.

[0206] Step S26: Based on the number of unit discs, the first desired joint angle, the second desired joint angle, the initial drive wire length, the first preset serpentine coefficient, and the second preset serpentine coefficient, calculate the drive space at the end of the catheter, wherein the drive space includes the length of each drive wire.

[0207] Similar to the first embodiment, in this embodiment, the driving wire may include two driving wires, or three or more driving wires.

[0208] like Figure 15 As shown, when the drive wire includes a first drive wire and a second drive wire arranged adjacent to each other, step S26 may further include:

[0209] Step S261: Calculate the number of unit discs, the first product of the first preset serpentine coefficient and the first desired joint angle, and the second product of the number of unit discs, the second preset serpentine coefficient and the second desired joint angle;

[0210] In this embodiment, as described above, since the first preset serpentine coefficient represents the ratio between the length change of the drive wire at the serpentine joint and the first joint angle, and the second preset serpentine coefficient represents the ratio between the length change of the drive wire at the serpentine joint and the second joint angle, the length change of the corresponding drive wire at the serpentine joint can be obtained by calculating the first product of the number of unit discs 490, the first preset serpentine coefficient, and the first desired joint angle, and the second product of the number of unit discs 490, the second preset serpentine coefficient, and the second desired joint angle.

[0211] Step S262: Calculate the sum of the first product and the initial drive wire length, and the sum of the second product and the initial drive wire length, to obtain the target length of the first drive wire between the head and tail unit discs of the snake joint, and the target length of the second drive wire between the head and tail unit discs of the snake joint, respectively; wherein, the formulas for expressing the length of the first drive wire and the target length of the second drive wire between the head and tail unit discs of the snake joint are as follows:

[0212] l1 = n * k1 * joint1 + l o ;

[0213] l2=n*k2*joint2+l o ;

[0214]

[0215] Where n represents the number of unit discs, l1 represents the target length of the first drive wire between the first and last unit discs of the snake joint, l2 represents the target length of the second drive wire between the first and last unit discs of the snake joint, k1 represents the first preset snake joint coefficient, k2 represents the second preset snake joint coefficient, joint1 represents the first desired joint angle, and joint2 represents the second desired joint angle; and n*k1*joint1 represents the length change of the first drive wire at the snake joint, and n*k2*joint2 represents the length change of the second drive wire at the snake joint.

[0216] In one embodiment, when the drive wire includes a first drive wire and a third drive wire disposed opposite to each other, and a second drive wire and a fourth drive wire disposed opposite to each other, step S26 may further include:

[0217] Step S263: Calculate the first product of the first preset snake bone coefficient and the first expected joint angle, the second product of the second preset snake bone coefficient and the second expected joint angle, take the negative value of the first product to obtain the third product, and take the negative value of the second product to obtain the fourth product.

[0218] Step S253 in this embodiment is the same as step S153 in the first embodiment, and will not be described again here.

[0219] Step S264: Calculate the sum of the first product, the second product, the third product, and the fourth product with the initial drive wire length, respectively, to obtain the target lengths of the first drive wire, the second drive wire, the third drive wire, and the fourth drive wire between the head and tail unit discs of the snake joint; wherein, the formulas for expressing the target lengths of the first drive wire, the second drive wire, the third drive wire, and the fourth drive wire between the head and tail unit discs of the snake joint are as follows:

[0220] l1 = n*(k1)*joint1 + l o ;

[0221] l2=n*(k2)*joint2+l o ;

[0222] l3=n*(-k1)*joint1+l o ;

[0223] l4=n*(-k2)*joint2+l o ;

[0224]

[0225] Wherein, l1 represents the target length of the first drive wire between the head and tail unit discs of the snake joint, l2 represents the target length of the second drive wire between the head and tail unit discs of the snake joint, l3 represents the target length of the third drive wire between the head and tail unit discs of the snake joint, l4 represents the target length of the fourth drive wire between the head and tail unit discs of the snake joint, k1 represents the first preset snake joint coefficient, k2 represents the second preset snake joint coefficient, joint1 represents the first desired joint angle, and joint2 represents the second desired joint angle; and n*(k1)*joint1 represents the length change of the first drive wire at the snake joint, n*(k2)*joint2 represents the length change of the second drive wire at the snake joint, n*(-k1)*joint1 represents the length change of the third drive wire at the snake joint, and n*(-k2)*joint2 represents the length change of the fourth drive wire at the snake joint. It is understood that the first drive wire and the third drive wire have the same length change at the snake joint, but drive the first joint 491 to rotate in opposite directions; similarly, the second drive wire and the fourth drive wire have the same length change at the snake joint, but drive the second joint 492 to rotate in opposite directions.

[0226] Existing technical solutions typically calculate the overall length or variation of the drive wire, while this application focuses on calculating the length or length variation of the drive wire located at the snake-like joint. Then, based on the relationship between the drive wire length, motor position, and a preset conversion coefficient, the motor position is obtained, and the motor is controlled to rotate to the corresponding position, ultimately achieving bending at the catheter tip. In this way, changes in drive wire length, catheter length, Young's modulus, etc., due to the increased use time of the catheter device are ignored or filtered out, thereby improving the accuracy of catheter control. Furthermore, compared to the first embodiment, this embodiment considers the specific number of unit discs at the snake-like joint, ultimately calculating the target length of each drive wire between the first and last unit discs of the snake-like joint. Thus, it not only applies to snake-like joints of different lengths but also makes the calculation result of the target length of the drive wire more accurate.

[0227] Based on the second embodiment, such as Figure 16 As shown, in one embodiment, step S26 may further include:

[0228] Step S27: Calculate the first actual joint angle and the second actual joint angle based on the expression formulas of the target length of the first drive wire between the first and second drive wires in the snake joint and the target length of the second drive wire between the first and second drive wires in the snake joint, or based on the expression formulas of the target lengths of the first drive wire, the second drive wire, the third drive wire and the fourth drive wire between the first and second drive wires in the snake joint.

[0229] Step S28: Substitute the first actual joint angle and the second actual joint angle into the expression formula (2) of the corresponding joint to calculate the actual bending angle.

[0230] Step S29: Substitute the actual bending angle into the expression formula (1) of the corresponding joint to calculate the actual direction angle.

[0231] The formula for expressing the actual bending angle is as follows:

[0232]

[0233] The formula for expressing the actual direction angle is as follows:

[0234]

[0235] Wherein, θ′ represents the actual bending angle, joint1′ represents the first actual joint angle, joint2′ represents the second actual joint angle, and α′ represents the actual direction angle.

[0236] This embodiment calculates the actual bending angle and actual orientation angle of the catheter tip after rotation based on the calculated target length of each drive wire between the head and tail unit discs of the snake-like joint. By presenting the actual bending angle and actual orientation angle to the operator as specific values ​​or through image processing, the operator can more intuitively see the actual effect of their manipulation of the catheter tip. This not only makes the operator's operation more intuitive but also helps improve the operator's understanding of the catheter instrument shape during endoscopic surgeries.

[0237] This application also provides a control system for a catheter system. Please refer to... Figure 17 This illustrates a schematic diagram of the control system of a catheter system provided in an embodiment of this application. Figure 17 As shown, the control system 600 includes: a processor 60, a memory 61, a bus 62, and a communication interface 63. The processor 60, the communication interface 63, and the memory 61 are connected through the bus 62. The memory 61 stores computer program instructions that can be executed by the processor 60. When the processor 60 executes the computer program instructions, it executes the duct drive space calculation method provided in any of the foregoing embodiments of this application.

[0238] The memory 61 may include high-speed random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Communication between this device network element and at least one other network element is achieved through at least one communication interface 63 (which can be wired or wireless), such as the Internet, wide area network, local area network, metropolitan area network, etc.

[0239] Bus 62 can be an ISA bus, PCI bus, or EISA bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. Memory 61 is used to store programs. After receiving an execution instruction, the processor 60 executes the program. The drive space calculation method for the conduit disclosed in any of the foregoing embodiments of this application can be applied to the processor 60, or implemented by the processor 60.

[0240] Processor 60 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed by the integrated logic circuitry in the hardware of processor 60 or by instructions in software form. Processor 60 can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it can also be a Digital Signal Processor (DSP), an Application-Specific Integrated Circuit (ASIC), an Off-the-shelf Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this application can be directly embodied in the execution of a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. The storage medium is located in memory 61. Processor 60 reads the information in memory 61 and, in conjunction with its hardware, completes the steps of the above method.

[0241] The catheter system provided in this application embodiment and the catheter driving space calculation method provided in this application embodiment are based on the same application concept and have the same beneficial effects as the methods they adopt, operate or implement.

[0242] This application also provides a computer-readable storage medium corresponding to the duct drive space calculation method provided in the foregoing embodiments. Please refer to... Figure 18 The computer-readable storage medium 6 shown thereon stores computer program instructions that, when executed by a processor, implement the drive space calculation method for the conduit provided in any of the foregoing embodiments.

[0243] It should be noted that examples of the computer-readable storage medium may include, but are not limited to, optical discs, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory, or other optical and magnetic storage media, which will not be elaborated here.

[0244] The computer-readable storage medium provided in the above embodiments of this application and the duct drive space calculation method provided in the embodiments of this application are based on the same application concept and have the same beneficial effects as the methods adopted, run or implemented by the application programs stored therein.

[0245] The above description is merely an optional embodiment of this application and does not limit the patent scope of this application. Any equivalent structural transformations made based on the content of the specification and drawings of this application under the concept of this application, or direct / indirect applications in other related technical fields, are included within the patent protection scope of this application.

Claims

1. A catheter system, characterized in that, The catheter system includes a robotic arm, a catheter instrument engaged with a power unit of the robotic arm, a user input device communicatively connected to the robotic arm, and a processor. The catheter instrument includes an instrument housing configured to engage with the power unit and a catheter connected to the instrument housing. The instrument housing includes a drive wheel configured to be driven by the power unit and a drive wire with one end wound around the drive wheel and the other end extending along the catheter and fixed to the end of the catheter. The end of the catheter has a serpentine joint through which the drive wire passes, the serpentine joint including a first joint and a second joint perpendicular to each other. The processor is configured to perform the following steps: The desired configuration space of the catheter tip is received via the user input device, the desired configuration space including the desired bending angle and the desired orientation angle; Obtain the correspondence between the desired bending angle and the desired direction angle and the first desired joint angle corresponding to the first joint and the second desired joint angle corresponding to the second joint, respectively; The first expected joint angle and the second expected joint angle are calculated based on the expected bending angle, the expected direction angle, and the corresponding relationship. The initial drive wire length, first preset snake bone coefficient, and second preset snake bone coefficient are obtained when the snake bone joint is in a straight state. Based on the first desired joint angle, the second desired joint angle, the initial drive wire length, the first preset serpentine coefficient, and the second preset serpentine coefficient, the drive space at the end of the catheter is calculated. The drive space includes the target length of each drive wire between the head and tail unit discs of the serpentine joint. The first preset serpentine coefficient is the ratio between the length change of the drive wire at the serpentine joint and the first desired joint angle. The second preset snake bone coefficient is the ratio between the length change of the drive wire at the snake bone joint and the second desired joint angle.

2. The catheter system as claimed in claim 1, characterized in that, The formula for expressing the correspondence is as follows: ； ； in, Indicates the desired direction angle. This represents the desired bending angle. This represents the first desired joint angle. This represents the second desired joint angle. This indicates the bending radius of the snake-bone joint.

3. The catheter system as described in claim 2, characterized in that, The step of calculating the first desired joint angle and the second desired joint angle based on the desired bending angle, the desired direction angle, and the corresponding relationship includes: Based on formulas (1) and (2), the following formula is derived: ； Substituting formula (3) into formula (2), the first desired joint angle is calculated: ； Substituting formula (4) into formula (3), the second desired joint angle is calculated: 。 4. The catheter system as claimed in claim 3, characterized in that, The drive wire includes a first drive wire and a second drive wire arranged adjacent to each other. The first drive wire is configured to drive the first joint to rotate, and the second drive wire is configured to drive the second joint to rotate. The step of calculating the drive space at the end of the catheter based on the first desired joint angle, the second desired joint angle, the initial drive wire length, the first preset serpentine coefficient, and the second preset serpentine coefficient includes: Calculate the first product of the first preset snake bone coefficient and the first desired joint angle, and the second product of the second preset snake bone coefficient and the second desired joint angle; The sum of the first product and the initial drive wire length, and the sum of the second product and the initial drive wire length, are calculated to obtain the target lengths of the first drive wire and the second drive wire between the head and tail unit discs of the snake joint, respectively. The formulas expressing the target lengths of the first drive wire and the second drive wire between the head and tail unit discs of the snake joint are as follows: ； ； ； ； in, This indicates the target length of the first drive wire between the head and tail unit discs of the snake-bone joint. This indicates the target length of the second drive wire between the head and tail unit discs of the snake-bone joint. This represents the first preset snake bone coefficient. This represents the second preset snake bone coefficient. This represents the first desired joint angle. This represents the second desired joint angle.

5. The catheter system as claimed in claim 4, characterized in that, The processor is configured to perform the following specific steps: Based on the formulas expressing the target length of the first drive wire between the head and tail unit discs of the snake joint and the target length of the second drive wire between the head and tail unit discs of the snake joint, the first actual joint angle and the second actual joint angle are calculated in reverse. Substitute the first actual joint angle and the second actual joint angle into the expression formula (2) of the corresponding joint to calculate the actual bending angle. Substitute the actual bending angle into the expression formula (1) of the corresponding joint to calculate the actual direction angle. The formula for expressing the actual bending angle is as follows: ； The formula for expressing the actual direction angle is as follows: ； in, This indicates the actual bending angle. This represents the first actual joint angle. This indicates the second actual joint angle. This indicates the actual direction angle.

6. The catheter system as claimed in claim 3, characterized in that, The drive wire includes a first drive wire and a third drive wire, and a second drive wire and a fourth drive wire, which are arranged opposite to each other. The first drive wire and the third drive wire are respectively configured to drive the first joint to rotate in two directions, and the second drive wire and the fourth drive wire are respectively configured to drive the second joint to rotate in two directions. The step of calculating the drive space at the end of the catheter based on the first desired joint angle, the second desired joint angle, the initial drive wire length, the first preset serpentine coefficient, and the second preset serpentine coefficient, wherein the drive space includes the length of each of the drive wires, includes: Calculate the first product of the first preset snake bone coefficient and the first desired joint angle, the second product of the second preset snake bone coefficient and the second desired joint angle, take the negative value of the first product to obtain the third product, and take the negative value of the second product to obtain the fourth product. The sums of the first product, the second product, the third product, and the fourth product with the initial drive wire length are calculated respectively to obtain the target lengths of the first drive wire, the second drive wire, the third drive wire, and the fourth drive wire between the head and tail unit discs of the snake joint; wherein, the formulas for expressing the target lengths of the first drive wire, the second drive wire, the third drive wire, and the fourth drive wire between the head and tail unit discs of the snake joint are as follows: ； ； ； ； ； ； in, This indicates the target length of the first drive wire between the head and tail unit discs of the snake-bone joint. This indicates the target length of the second drive wire between the head and tail unit discs of the snake-bone joint. This indicates the target length of the third drive wire between the head and tail unit discs of the snake-bone joint. This indicates the target length of the fourth drive wire between the head and tail unit discs of the snake-bone joint. This represents the first preset snake bone coefficient. This represents the second preset snake bone coefficient. This represents the first desired joint angle. This represents the second desired joint angle.

7. The catheter system as claimed in claim 6, characterized in that, The processor is configured to perform the following specific steps: Based on the expression formulas for the target lengths of the first drive wire, the second drive wire, the third drive wire, and the fourth drive wire between the head and tail unit discs of the snake joint, the first actual joint angle and the second actual joint angle are calculated in reverse. Substitute the first actual joint angle and the second actual joint angle into the expression formula (2) of the corresponding joint to calculate the actual bending angle. Substitute the actual bending angle into the expression formula (1) of the corresponding joint to calculate the actual direction angle. The formula for expressing the actual bending angle is as follows: ； The formula for expressing the actual direction angle is as follows: ； in, This indicates the actual bending angle. This represents the first actual joint angle. This indicates the second actual joint angle. This indicates the actual direction angle.

8. The catheter system as claimed in claim 1, characterized in that, The processor is configured to perform the following specific steps: Obtain the number of unit discs of the snake-bone joint; Based on the number of unit discs, the first desired joint angle, the second desired joint angle, the initial drive wire length, the first preset serpentine coefficient, and the second preset serpentine coefficient, the drive space at the end of the catheter is calculated, and the drive space includes the length of each of the drive wires.

9. The catheter system as claimed in claim 8, characterized in that, The formula for expressing the correspondence is as follows: ； ； in, This indicates the number of unit discs in the snake-bone joint. Indicates the desired direction angle. This represents the desired bending angle. This represents the first desired joint angle. This represents the second desired joint angle. This indicates the bending radius of one of the unit disks.

10. The catheter system as claimed in claim 9, characterized in that, The step of calculating the first desired joint angle and the second desired joint angle based on the desired bending angle, the desired direction angle, and the corresponding relationship includes: Based on formulas (1) and (2), the following formulas are derived: ； Substituting formula (3) into formula (2), the first desired joint angle is calculated: ； Substituting formula (4) into formula (3), the second desired joint angle is calculated: 。 11. The catheter system as claimed in claim 10, characterized in that, The drive wire includes a first drive wire and a second drive wire arranged adjacent to each other. The first drive wire is configured to drive the first joint to rotate, and the second drive wire is configured to drive the second joint to rotate. The step of calculating the drive space at the end of the catheter based on the number of unit discs, the first desired joint angle, the second desired joint angle, the initial drive wire length, the first preset serpentine coefficient, and the second preset serpentine coefficient, wherein the drive space includes the length of each drive wire, includes: Calculate the number of unit discs, the first product of the first preset serpentine coefficient and the first desired joint angle, and the second product of the number of unit discs, the second preset serpentine coefficient and the second desired joint angle; The sum of the first product and the initial drive wire length, and the sum of the second product and the initial drive wire length, are calculated to obtain the target lengths of the first drive wire and the second drive wire between the head and tail unit discs of the snake joint, respectively. The formulas expressing the lengths of the first and second drive wires between the head and tail unit discs of the snake joint are as follows: ； ； ； ； in, This indicates the target length of the first drive wire between the head and tail unit discs of the snake-bone joint. This indicates the target length of the second drive wire between the head and tail unit discs of the snake-bone joint. This represents the first preset snake bone coefficient. This represents the second preset snake bone coefficient. This represents the first desired joint angle. This represents the second desired joint angle.

12. The catheter system as claimed in claim 11, characterized in that, The processor is configured to perform the following specific steps: Based on the formulas expressing the target length of the first drive wire between the head and tail unit discs of the snake joint and the target length of the second drive wire between the head and tail unit discs of the snake joint, the first actual joint angle and the second actual joint angle are calculated in reverse. Substitute the first actual joint angle and the second actual joint angle into the expression formula (2) of the corresponding joint to calculate the actual bending angle. Substitute the actual bending angle into the expression formula (1) of the corresponding joint to calculate the actual direction angle. The formula for expressing the actual bending angle is as follows: ； The formula for expressing the actual direction angle is as follows: ； in, This indicates the actual bending angle. This represents the first actual joint angle. This indicates the second actual joint angle. Indicates the number of unit disks, This indicates the actual direction angle.

13. The catheter system as claimed in claim 10, characterized in that, The drive wire includes a first drive wire and a third drive wire, and a second drive wire and a fourth drive wire, which are arranged opposite to each other. The first drive wire and the third drive wire are respectively configured to drive the first joint to rotate in two directions, and the second drive wire and the fourth drive wire are respectively configured to drive the second joint to rotate in two directions. The step of calculating the drive space at the end of the catheter based on the number of unit discs, the first desired joint angle, the second desired joint angle, the initial drive wire length, the first preset serpentine coefficient, and the second preset serpentine coefficient, wherein the drive space includes the length of each drive wire, includes: Calculate the first product of the first preset snake bone coefficient and the first desired joint angle, the second product of the second preset snake bone coefficient and the second desired joint angle, take the negative value of the first product to obtain the third product, and take the negative value of the second product to obtain the fourth product. The sums of the first product, the second product, the third product, and the fourth product with the initial drive wire length are calculated respectively to obtain the target lengths of the first drive wire, the second drive wire, the third drive wire, and the fourth drive wire between the head and tail unit discs of the snake joint; wherein, the formulas for expressing the target lengths of the first drive wire, the second drive wire, the third drive wire, and the fourth drive wire between the head and tail unit discs of the snake joint are as follows: ； ； ； ； ； ； in, This indicates the target length of the first drive wire between the head and tail unit discs of the snake-bone joint. This indicates the target length of the second drive wire between the head and tail unit discs of the snake-bone joint. This indicates the target length of the third drive wire between the head and tail unit discs of the snake-bone joint. This indicates the target length of the fourth drive wire between the head and tail unit discs of the snake-bone joint. This represents the first preset snake bone coefficient. This represents the second preset snake bone coefficient. This represents the first desired joint angle. This represents the second desired joint angle.

14. The catheter system as claimed in claim 13, characterized in that, The processor is configured to perform the following specific steps: Based on the expression formulas for the target lengths of the first drive wire, the second drive wire, the third drive wire, and the fourth drive wire between the head and tail unit discs of the snake joint, the first actual joint angle and the second actual joint angle are calculated in reverse. Substitute the first actual joint angle and the second actual joint angle into the expression formula (2) of the corresponding joint to calculate the actual bending angle. Substitute the actual bending angle into the expression formula (1) of the corresponding joint to calculate the actual direction angle. The formula for expressing the actual bending angle is as follows: ； The formula for expressing the actual direction angle is as follows: ； in, This indicates the actual bending angle. This represents the first actual joint angle. This indicates the second actual joint angle. Indicates the number of unit disks, This indicates the actual direction angle.

15. A method for calculating the driving space of a duct, characterized in that, The distal end of the catheter has a serpentine joint through which a drive wire passes, the serpentine joint comprising a first joint and a second joint perpendicular to each other; the method for calculating the drive space of the catheter includes the following steps: The desired configuration space of the catheter tip is received via a user input device, the desired configuration space including the desired bending angle and the desired orientation angle; Obtain the correspondence between the desired bending angle and the desired direction angle and the first desired joint angle corresponding to the first joint and the second desired joint angle corresponding to the second joint, respectively; The first expected joint angle and the second expected joint angle are calculated based on the expected bending angle, the expected direction angle, and the corresponding relationship. The initial drive wire length, first preset snake bone coefficient, and second preset snake bone coefficient are obtained when the snake bone joint is in a straight state. Based on the first desired joint angle, the second desired joint angle, the initial drive wire length, the first preset serpentine coefficient, and the second preset serpentine coefficient, the drive space at the end of the catheter is calculated. The drive space includes the target length of each drive wire between the head and tail unit discs of the serpentine joint. The first preset serpentine coefficient is the ratio between the length change of the drive wire at the serpentine joint and the first desired joint angle. The second preset serpentine coefficient is the ratio between the length change of the drive wire at the serpentine joint and the second desired joint angle.

16. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer program instructions configured to be loaded by a processor and executed to implement the steps of the method as described in claim 15.

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