Interventional instrument torque detection method and device, equipment, storage medium and product

Abstract

The invention relates to an interventional instrument torque detection method and device, equipment, a storage medium and a product. The method comprises the following steps: acquiring tail end rotation information of the interventional instrument; determining front-end rotation information of the interventional instrument according to the medical image; and according to the tail end rotation information and the front end rotation information, performing torque detection on the interventional instrument to obtain a torque detection result of the interventional instrument. According to the embodiment of the invention, the tail end rotation information of the interventional instrument can be obtained according to the torsion information of the interventional instrument, and the front end rotation information of the interventional instrument can be determined according to the medical image, so that the mechanical information of the interventional instrument and the information of the medical image can be combined to comprehensively perform torque detection on the interventional instrument, and thus the detection efficiency is improved. And a more accurate torque detection result of the interventional instrument can be obtained.

Description

Technical Field

[0001] The present application relates to the technical field of vascular interventional surgery, and in particular to a method, device, equipment, storage medium and product for detecting torque of an interventional instrument. Background Art

[0002] During interventional surgery, the surgeon needs to control the movement of catheters, guidewires and other instruments. Generally, the surgeon can remotely control the movement of interventional surgery robots to reduce the radiation dose to themselves. Since the forward, backward and rotation operations during interventional surgery carry the risk of damaging biological tissues with interventional instruments, interventional surgery robots need to be equipped with a force feedback system to detect and provide feedback on torque resistance.

[0003] However, the current torque detection method has the problem of low accuracy. Summary of the invention

[0004] Based on this, it is necessary to provide a method, device, equipment, storage medium and product for detecting the torque of an interventional instrument that can improve the accuracy of torque detection in order to address the above technical problems.

[0005] In a first aspect, the present application provides a method for detecting torque of an interventional instrument, comprising:

[0006] Obtaining the distal end rotation information of the interventional device;

[0007] Determining the front end rotation information of the interventional instrument according to the medical image;

[0008] The interventional instrument is subjected to torque detection according to the distal end rotation information and the distal end rotation information to obtain a torque detection result of the interventional instrument.

[0009] In one embodiment, performing torque detection on the interventional instrument according to the distal end rotation information and the front end rotation information to obtain the torque detection result of the interventional instrument includes:

[0010] Determining a first rotation angle difference and / or a rotation time difference according to the terminal rotation information and the front end rotation information;

[0011] The torque detection is performed on the interventional instrument according to the first rotation angle difference and / or the rotation time difference to obtain a torque detection result of the interventional instrument.

[0012] In one embodiment, the terminal rotation information includes a terminal rotation angle, the front end rotation information includes a front end rotation angle, and determining a first rotation angle difference and / or a rotation time difference according to the terminal rotation information and the front end rotation information includes:

[0013] Determining a first rotation angle difference according to the end rotation angle and the front end rotation angle;

[0014] The step of performing torque detection on the interventional instrument according to the first rotation angle difference and / or the rotation time difference to obtain a torque detection result of the interventional instrument includes:

[0015] The torque of the interventional instrument is detected according to the first rotation angle difference to obtain a torque detection result of the interventional instrument.

[0016] In one embodiment, the torque detection result includes a first torque resistance, and performing torque detection on the interventional instrument according to the first rotation angle difference to obtain the torque detection result of the interventional instrument includes:

[0017] Obtaining relevant size parameters of the interventional device;

[0018] The first torque resistance of the interventional instrument is obtained according to the first rotation angle difference, the relevant size parameters and the first corresponding relationship; the first corresponding relationship includes the corresponding relationship between the rotation angle difference, the relevant size parameters and the torque resistance.

[0019] In one embodiment, the method for determining the first corresponding relationship includes:

[0020] Determining a target corresponding relationship between shear stress and rotation angle difference corresponding to each facet on a cross section of the interventional device according to relevant size parameters of the interventional device;

[0021] Integral processing is performed according to the target corresponding relationship to obtain the first corresponding relationship.

[0022] In one embodiment, the terminal rotation information includes the terminal rotation time, the front end rotation information includes the front end rotation time, and determining the first rotation angle difference and / or the rotation time difference according to the terminal rotation information and the front end rotation information includes:

[0023] Determining a rotation time difference according to the end rotation time and the front rotation time;

[0024] The step of performing torque detection on the interventional instrument according to the first rotation angle difference and / or the rotation time difference to obtain a torque detection result of the interventional instrument includes:

[0025] The torque of the interventional instrument is detected according to the rotation time difference to obtain a torque detection result of the interventional instrument.

[0026] In one embodiment, the torque detection result includes a second torque resistance, and performing torque detection on the interventional instrument according to the rotation time difference to obtain the torque detection result of the interventional instrument includes:

[0027] Acquiring a speed parameter of the interventional device;

[0028] A second torque resistance of the interventional instrument is obtained according to the rotation time difference, the speed parameter and a second corresponding relationship; the second corresponding relationship includes a corresponding relationship between the rotation time difference, the speed parameter and the torque resistance.

[0029] In one embodiment, obtaining the second torque resistance of the interventional instrument according to the rotation time difference, the speed parameter and the second corresponding relationship includes:

[0030] Obtaining a second rotation angle difference according to the rotation time difference, the speed parameter and a third corresponding relationship;

[0031] A second torque resistance of the interventional instrument is obtained according to the second rotation angle difference and the second corresponding relationship.

[0032] In one embodiment, performing torque detection on the interventional instrument according to the first rotation angle difference and / or the rotation time difference to obtain the torque detection result of the interventional instrument includes:

[0033] Performing torque detection on the interventional instrument according to the first rotation angle difference to obtain a first torque detection result of the interventional instrument;

[0034] Performing torque detection on the interventional instrument according to the rotation time difference to obtain a second torque detection result of the interventional instrument;

[0035] The torque detection result of the interventional instrument is determined according to the first torque detection result and the second torque detection result.

[0036] In a second aspect, the present application also provides a device for detecting torque of an interventional instrument, comprising:

[0037] An acquisition module, used to acquire the distal end rotation information of the interventional device;

[0038] A determination module, used to determine the front end rotation information of the interventional instrument according to the medical image;

[0039] The detection module is used to perform torque detection on the interventional instrument according to the terminal rotation information and the front end rotation information to obtain the torque detection result of the interventional instrument.

[0040] In a third aspect, the present application further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0041] Obtaining the distal end rotation information of the interventional device;

[0042] Determining the front end rotation information of the interventional instrument according to the medical image;

[0043] The interventional instrument is subjected to torque detection according to the distal end rotation information and the distal end rotation information to obtain a torque detection result of the interventional instrument.

[0044] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the following steps are implemented:

[0045] Obtaining the distal end rotation information of the interventional device;

[0046] Determining the front end rotation information of the interventional instrument according to the medical image;

[0047] The interventional instrument is subjected to torque detection according to the distal end rotation information and the distal end rotation information to obtain a torque detection result of the interventional instrument.

[0048] In a fifth aspect, the present application further provides a computer program product, including a computer program, which implements the following steps when executed by a processor:

[0049] Obtaining the distal end rotation information of the interventional device;

[0050] Determining the front end rotation information of the interventional instrument according to the medical image;

[0051] The interventional instrument is subjected to torque detection according to the distal end rotation information and the distal end rotation information to obtain a torque detection result of the interventional instrument.

[0052] The above-mentioned interventional instrument torque detection method, device, equipment, storage medium and product obtain the terminal rotation information of the interventional instrument; determine the front end rotation information of the interventional instrument based on the medical image; perform torque detection on the interventional instrument based on the terminal rotation information and the front end rotation information to obtain the torque detection result of the interventional instrument. Since the embodiment of the present application can obtain the terminal rotation information of the interventional instrument based on the torsion information of the interventional instrument itself, and determine the front end rotation information of the interventional instrument based on the medical image, it is possible to combine the mechanical information of the interventional instrument and the information of the medical image to comprehensively perform torque detection on the interventional instrument, so that a more accurate torque detection result of the interventional instrument can be obtained. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0054] Figure 1 A diagram of an application environment of a method for detecting torque of an interventional instrument in one embodiment;

[0055] Figure 2 It is a schematic diagram of a flow chart of a method for detecting torque of an interventional instrument in one embodiment;

[0056] Figure 3 is a schematic flow chart of a torque detection step in one embodiment;

[0057] Figure 4 is a schematic flow chart of a first torque detection step in an embodiment;

[0058] Figure 5 is a schematic diagram of a method for detecting torque of an interventional instrument based on a rotation angle in one embodiment;

[0059] Figure 6 is a schematic flow chart of a second torque detection step in one embodiment;

[0060] Figure 7 is a flow chart of a second torque resistance determination step in one embodiment;

[0061] Figure 8 is a flow chart of a method for detecting torque of an interventional instrument in another embodiment;

[0062] Fig. 9 It is a structural block diagram of a device for detecting torque of an interventional instrument in one embodiment. DETAILED DESCRIPTION

[0063] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0064] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0065] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0066] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0067] During the interventional surgery, the surgeon needs to control the movement of catheters, guidewires and other instruments. Traditional surgery requires doctors to perform the above operations for a long time in the presence of X-rays. After the emergence of interventional surgery robots, surgeons can generally remotely control the movement of interventional surgery robots to reduce their own radiation dose. Since the forward, backward and rotation operations during interventional surgery carry the risk of interventional instruments damaging biological tissues, interventional surgery robots need to be equipped with force feedback systems to detect and provide feedback on torque resistance. In intraoperative application scenarios, torque detection of interventional instruments can be used for torque feedback during rotation operations, improve the operability of the robot, and improve the learning curve of doctors from traditional surgical methods to learning interventional surgery robot systems. In addition, torque detection can also assist doctors in predicting possible risks during surgery, significantly improving the safety of surgery.

[0068] However, there are many shortcomings in the current methods for detecting and feeding back torque for interventional instruments: first, many interventional surgical robots equipped with force feedback systems do not have the function of torque feedback; second, the current torque detection method relies on the torque sensor connected to the clamping mechanical structure, which is easily affected by the vibration of the mechanical structure; third, the current torque detection method does not take into account the rotation angle of the mechanical fixed structure at the end of the interventional instrument, and the rotation angle of the mechanical fixed structure helps to eliminate interference factors. Therefore, the current torque detection method has the problem of low accuracy.

[0069] After introducing the background technology of the interventional instrument torque detection method provided in the embodiment of the present application, the implementation environment involved in the interventional instrument torque detection method provided in the embodiment of the present application will be briefly described below. The interventional instrument torque detection method provided in the embodiment of the present application can be applied to Figure 1 In the computer device shown. The computer device can be a terminal or a server, and the computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a method for detecting the torque of an interventional instrument is realized. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0070] Those skilled in the art will understand that Figure 1 The structure shown in the figure is only a block diagram of a part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific terminal may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0071] In one embodiment, Figure 2 As shown, a method for detecting torque of an interventional device is provided, and the method is applied to Figure 1 The computer device in the example is used to illustrate, including the following steps:

[0072] S201, obtaining the distal end rotation information of the interventional instrument.

[0073] Among them, the interventional instrument refers to a part of the instrument in the interventional surgical robot that needs to be inserted into the biological tissue during the interventional surgery. The end of the interventional instrument refers to the end of the interventional instrument that contacts the mechanical structure in the interventional surgical robot used to fix and rotate the interventional instrument. The end rotation information of the interventional instrument may include but is not limited to at least one of the information such as the end rotation angle of the interventional instrument, the end rotation time of the interventional instrument, etc.

[0074] In the embodiment of the present application, the computer device can obtain the terminal rotation information of the interventional device according to the torsion information of the interventional device itself. Optionally, the computer device can obtain the terminal rotation information of the interventional device in real time according to the torsion information of the interventional device itself; or, the computer device can also obtain the terminal rotation information of the interventional device at regular intervals according to the torsion information of the interventional device itself. Of course, the embodiment of the present application does not limit the specific implementation method of obtaining the terminal rotation information of the interventional device.

[0075] S202: Determine the front end rotation information of the interventional instrument according to the medical image.

[0076] Among them, medical images are used to collect morphological images of the front end of the interventional instrument, and the medical images may include but are not limited to at least one of the following types of images: X-ray images, CT (Computed Tomography) images, and MRI images. The front end of the interventional instrument refers to the end of the interventional instrument of the interventional surgical robot that is placed in the patient's body, and the front end rotation information of the interventional instrument may include but is not limited to at least one of the front end rotation angle of the interventional instrument, the front end rotation time of the interventional instrument, and other information.

[0077] In the embodiment of the present application, after the interventional surgery begins, the computer device can record the time and angle of each rotation operation of the operator, and can also record the medical image and the shooting time of the medical image, so that the computer device can determine the front end rotation information of the interventional device according to the medical image corresponding to the front end of the interventional device. Optionally, the computer device can determine the front end rotation information of the interventional device in real time according to the medical image corresponding to the front end of the interventional device; or, the computer device can also determine the front end rotation information of the interventional device at regular intervals according to the medical image corresponding to the front end of the interventional device. Of course, the embodiment of the present application does not limit the specific implementation method for determining the front end rotation information of the interventional device.

[0078] S203, performing torque detection on the interventional instrument according to the distal end rotation information and the front end rotation information to obtain a torque detection result of the interventional instrument.

[0079] In the embodiment of the present application, optionally, the computer device can directly perform torque detection on the interventional instrument according to the terminal rotation information and the front end rotation information to obtain the torque detection result of the interventional instrument; or, the computer device can also first determine the intermediate rotation parameter according to the terminal rotation information and the front end rotation information, and then perform torque detection on the interventional instrument according to the intermediate rotation parameter to obtain the torque detection result of the interventional instrument. Of course, the embodiment of the present application does not limit the specific implementation method of torque detection. Among them, the intermediate rotation parameter may include but is not limited to at least one of the difference, ratio, etc. between the terminal rotation information and the front end rotation information, and the torque detection result may include but is not limited to at least one of the torque resistance corresponding to static friction and the torque resistance during the movement of the interventional instrument. In addition, the computer device can also remind the doctor of the total torque resistance of the interventional instrument during the interventional surgery, wherein the reminder method may include but is not limited to at least one of vibration feedback, torque feedback, display reminder, sound reminder, image reminder, etc., and the total torque resistance may include the torque resistance corresponding to the torque detection result and other resistance values.

[0080] In the above-mentioned method for detecting the torque of the interventional instrument, the distal end rotation information of the interventional instrument is obtained; the front end rotation information of the interventional instrument is determined based on the medical image; the torque of the interventional instrument is detected based on the distal end rotation information and the front end rotation information to obtain the torque detection result of the interventional instrument. Since the embodiment of the present application can obtain the distal end rotation information of the interventional instrument based on the torsion information of the interventional instrument itself, and determine the front end rotation information of the interventional instrument based on the medical image, it is possible to combine the mechanical information of the interventional instrument and the information of the medical image to comprehensively detect the torque of the interventional instrument, so that a more accurate torque detection result of the interventional instrument can be obtained.

[0081] In one embodiment, a method for implementing torque detection is provided, namely, "performing torque detection on the interventional instrument according to the distal end rotation information and the distal end rotation information to obtain a torque detection result of the interventional instrument" in the above S203. Figure 3 As shown, including:

[0082] S301, determining a first rotation angle difference and / or a rotation time difference according to the end rotation information and the front end rotation information.

[0083] In the embodiment of the present application, optionally, the computer device can determine the first rotation angle difference based on the terminal rotation information and the front end rotation information; or, the computer device can also determine the rotation time difference based on the terminal rotation information and the front end rotation information; or, the computer device can also determine the first rotation angle difference and the rotation time difference based on the terminal rotation information and the front end rotation information. Of course, the embodiment of the present application does not limit the specific implementation method for determining the first rotation angle difference and / or the rotation time difference. Among them, the first rotation angle difference is used to characterize the rotation angle difference between the front end and the terminal of the interventional instrument, and the rotation time difference is used to characterize the rotation time difference between the front end and the terminal of the interventional instrument.

[0084] S302: Perform torque detection on the interventional instrument according to the first rotation angle difference and / or the rotation time difference to obtain a torque detection result of the interventional instrument.

[0085] In the embodiment of the present application, optionally, the computer device can perform torque detection on the interventional instrument according to the first rotation angle difference to obtain the torque detection result of the interventional instrument; or, the computer device can also perform torque detection on the interventional instrument according to the rotation time difference to obtain the torque detection result of the interventional instrument; or, the computer device can also perform torque detection on the interventional instrument according to the first rotation angle difference and the rotation time difference to obtain the torque detection result of the interventional instrument. Of course, the embodiment of the present application does not limit the specific implementation method of torque detection on the interventional instrument.

[0086] In this embodiment, the first rotation angle difference and / or rotation time difference can be accurately determined based on the terminal rotation information and the front end rotation information. Thus, the interventional instrument can be subjected to torque detection based on the first rotation angle difference and / or rotation time difference. That is, the mechanical information of the interventional instrument and the information of the medical image can be combined to comprehensively perform torque detection on the interventional instrument. In this way, a more accurate torque detection result of the interventional instrument can be obtained.

[0087] In one embodiment, the terminal rotation information includes the terminal rotation angle, and the front end rotation information includes the front end rotation angle. Based on this, a method for implementing torque detection is provided, that is, "determining a first rotation angle difference and / or a rotation time difference according to the terminal rotation information and the front end rotation information" in the above S301. Figure 4 As shown, including:

[0088] S401, determining a first rotation angle difference according to the end rotation angle and the front rotation angle.

[0089] In an embodiment of the present application, if the above-mentioned terminal rotation information includes the terminal rotation angle, and the above-mentioned front end rotation information includes the front end rotation angle, the computer device can determine the first rotation angle difference between the terminal rotation angle and the front end rotation angle based on the terminal rotation angle and the front end rotation angle. Among them, the first rotation angle difference is used to characterize the rotation angle difference between the terminal rotation angle and the front end rotation angle. The identification method of the front end rotation angle may include but is not limited to calculating the front end rotation angle after aligning the interventional instrument using a registration algorithm, directly outputting the front end rotation angle using a computer algorithm such as a neural network or deep learning, or calculating the front end rotation angle based on the function of the interventional instrument itself.

[0090] The above-mentioned “performing torque detection on the interventional instrument according to the first rotation angle difference and / or the rotation time difference to obtain a torque detection result of the interventional instrument” in S302 includes:

[0091] S402: Perform torque detection on the interventional instrument according to the first rotation angle difference to obtain a torque detection result of the interventional instrument.

[0092] In the embodiment of the present application, the computer device can directly perform torque detection on the interventional instrument according to the first rotation angle difference to obtain the torque detection result of the interventional instrument; or the computer device can also determine the relevant size parameters of the interventional instrument, so that the torque detection can be performed on the interventional instrument according to the relevant size parameters of the interventional instrument and the first rotation angle difference to obtain the torque detection result of the interventional instrument. Of course, the embodiment of the present application does not limit the specific implementation method of performing torque detection on the interventional instrument according to the first rotation angle difference.

[0093] In this embodiment, the first rotation angle difference can be determined based on the terminal rotation angle corresponding to the mechanical information of the interventional instrument and the front end rotation angle corresponding to the medical image. Thus, the mechanical information of the interventional instrument and the information of the medical image can be combined to perform torque detection on the interventional instrument based on the first rotation angle difference. In this way, a more accurate torque detection result of the interventional instrument can be obtained.

[0094] In one embodiment, the torque detection result includes a first torque resistance. Based on this, a method for implementing torque detection is provided, namely, the step of “performing torque detection on the interventional instrument according to the first rotation angle difference to obtain a torque detection result of the interventional instrument” in S402, including:

[0095] Obtain relevant size parameters of interventional devices.

[0096] According to the first rotation angle difference, the relevant size parameters and the first corresponding relationship, the first torque resistance of the interventional instrument is obtained; the first corresponding relationship includes the corresponding relationship between the rotation angle difference, the relevant size parameters and the torque resistance.

[0097] In an embodiment of the present application, the computer device can obtain the relevant dimensional parameters of the interventional instrument and the first corresponding relationship in advance. Among them, the relevant dimensional parameters of the interventional instrument may include but are not limited to at least one of the dimensional parameters such as the length between the front end and the end of the interventional instrument, the radius, inner diameter, outer diameter, shear modulus, etc. of the interventional instrument, and the first corresponding relationship refers to the correspondence between the rotation angle difference, the relevant dimensional parameters and the torque resistance. Thus, the computer device can obtain the first torque resistance of the interventional instrument based on the first rotation angle difference, the relevant dimensional parameters and the first corresponding relationship. Among them, the first torque resistance refers to the force generated by the static friction of the interventional instrument under static conditions, which causes the entire interventional instrument to rotate.

[0098] In one embodiment, the method for determining the first corresponding relationship includes:

[0099] According to the relevant size parameters of the interventional device, the target corresponding relationship between the shear stress and the rotation angle difference corresponding to each facet on the cross section of the interventional device is determined.

[0100] An integration process is performed according to the target corresponding relationship to obtain a first corresponding relationship.

[0101] For example, Figure 5 As shown, Figure 5 FIG. 1 is a schematic diagram of a torque detection method for an interventional device based on a rotation angle in one embodiment. Assume that the length between the front end and the end of the interventional device is l, the shear modulus is G, and the total rotation angle difference of the interventional device is Then, according to the definition of shear stress, the computer equipment can determine the shear stress at a certain surface element on the cross section of the interventional device based on the relevant size parameters of the interventional device. The following formula (1) should be satisfied:

[0102]

[0103] in, For the radius The shear strain of the surface element on the arc is, is the rate of change of the rotation angle of a volume element of length dx. In this way, the target corresponding relationship between the shear stress and the rotation angle difference corresponding to each surface element on the cross section of the interventional device can be determined as formula (1).

[0104] Thus, the first corresponding relationship can be obtained by performing integration processing according to the target corresponding relationship. For example, the entire cross section can be integrated to obtain the torque T of this volume element satisfying the following formula (2):

[0105]

[0106] Afterwards, by integrating the entire device with a length of l, the relationship between the torque M exerted on the device and the total rotation angle can be obtained.

[0107] For example, for a solid interventional device (such as a guidewire) with a radius of R, the relationship between the torque M exerted on the device and the total rotation angle satisfies the following formula (3):

[0108]

[0109] For example, for a hollow interventional device (such as a catheter) with an inner diameter of d and an outer diameter of D, the relationship between the torque M exerted on the device and the total rotation angle satisfies the following formula (4):

[0110]

[0111] It can be concluded that for solid or hollow cylindrical interventional devices, the following relationship exists:

[0112]

[0113] Where M is the torque resistance, K is the relevant size parameter of the interventional device, is the rotation angle difference, and l is the length or distance between the front end and the end of the interventional instrument.

[0114] In addition, during the interventional procedure, the torque resistance of the interventional instrument is caused by friction. Therefore, there is a hysteresis caused by static friction between the rotation of the end of the interventional instrument and the rotation of the front end. Based on this, it can be used represents the torque generated by static friction, and the front end of the interventional device will only start to move when the angle difference generated by the twisting is sufficient to overcome the maximum static friction. Therefore, according to the above formula (5), there is an angle difference , satisfying the following formula (6):

[0115]

[0116] The first corresponding relationship can be expressed as formula (6). That is, it can be understood that when the rotation angle difference reaches The front end of the interventional instrument will rotate along with the end of the interventional instrument.

[0117] Therefore, after the rotation of the distal end of the interventional instrument stops, it is possible to detect whether the front end of the interventional instrument continues to rotate, and record the rotation angle after the distal end stops rotating and the angle after the front end ends rotating. Thus, the first rotation angle difference between the distal end rotation angle and the front end rotation angle can be obtained. Thereafter, the first torque resistance corresponding to the static friction of the interventional instrument under static conditions can be calculated based on the first rotation angle difference, relevant dimensional parameters and the first corresponding relationship.

[0118] In this embodiment, the relevant size parameters and the first corresponding relationship of the interventional instrument can be accurately obtained, so that the first torque resistance of the interventional instrument can be accurately determined according to the first rotation angle difference, the relevant size parameters and the first corresponding relationship.

[0119] In one embodiment, the terminal rotation information includes the terminal rotation time, and the front end rotation information includes the front end rotation time. Based on this, a method for implementing torque detection is provided, that is, "determining a first rotation angle difference and / or a rotation time difference according to the terminal rotation information and the front end rotation information" in the above S301. Figure 6 As shown, including:

[0120] S501, determining a rotation time difference according to the end rotation time and the front rotation time.

[0121] In the embodiment of the present application, if the terminal rotation information includes the terminal rotation time and the front end rotation information includes the front end rotation time, the computer device can determine the rotation time difference between the terminal rotation time and the front end rotation time according to the terminal rotation time and the front end rotation time. The rotation time difference is used to characterize the rotation time difference between the terminal rotation time and the front end rotation time.

[0122] The above-mentioned “performing torque detection on the interventional instrument according to the first rotation angle difference and / or the rotation time difference to obtain a torque detection result of the interventional instrument” in S302 includes:

[0123] S502, performing torque detection on the interventional instrument according to the rotation time difference to obtain a torque detection result of the interventional instrument.

[0124] In the embodiment of the present application, the computer device can directly perform torque detection on the interventional instrument according to the rotation time difference to obtain the torque detection result of the interventional instrument; or the computer device can also determine the speed parameter of the interventional instrument, thereby performing torque detection on the interventional instrument according to the speed parameter of the interventional instrument and the rotation time difference to obtain the torque detection result of the interventional instrument. Of course, the embodiment of the present application does not limit the specific implementation method of performing torque detection on the interventional instrument according to the rotation time difference.

[0125] In this embodiment, the rotation time difference can be determined based on the terminal rotation time corresponding to the mechanical information of the interventional instrument and the front end rotation time corresponding to the medical image. Thus, the mechanical information of the interventional instrument and the information of the medical image can be combined to perform torque detection on the interventional instrument based on the rotation time difference. In this way, a more accurate torque detection result of the interventional instrument can be obtained.

[0126] In one embodiment, the torque detection result includes a second torque resistance. Based on this, a method for implementing torque detection is provided, namely, "performing torque detection on the interventional instrument according to the rotation time difference to obtain a torque detection result of the interventional instrument" in the above S502. Figure 7 As shown, including:

[0127] S601, obtaining speed parameters of the interventional device.

[0128] S602, obtaining a second torque resistance of the interventional instrument according to the rotation time difference, the speed parameter and the second corresponding relationship; the second corresponding relationship includes a corresponding relationship between the rotation time difference, the speed parameter and the torque resistance.

[0129] In an embodiment of the present application, the computer device can pre-acquire the speed parameter of the interventional instrument and the second corresponding relationship. Among them, the speed parameter of the interventional instrument may include but is not limited to at least one of the speed parameters such as the speed and angular velocity of the interventional instrument, and the second corresponding relationship refers to the corresponding relationship between the rotation time difference, the speed parameter and the torque resistance. Thus, optionally, the computer device can directly obtain the second torque resistance of the interventional instrument based on the rotation time difference, the speed parameter and the second corresponding relationship; or, the computer device can also first determine the rotation angle difference based on the rotation time difference and the speed parameter, and then obtain the second torque resistance of the interventional instrument based on the determined rotation angle difference and the second corresponding relationship. Among them, the first corresponding relationship and the second corresponding relationship in the embodiment of the present application may be equal, or they may not be equal. Of course, the embodiment of the present application is not limited to this.

[0130] In this embodiment, the speed parameter and the second corresponding relationship of the interventional instrument can be accurately obtained, so that the second torque resistance of the interventional instrument can be accurately obtained according to the rotation time difference, the speed parameter and the second corresponding relationship.

[0131] In one embodiment, a method for implementing torque detection is provided, namely, "obtaining a second torque resistance of the interventional device according to the rotation time difference, the speed parameter and the second corresponding relationship" in the above S602, including:

[0132] A second rotation angle difference is obtained according to the rotation time difference, the speed parameter and the third corresponding relationship.

[0133] A second torque resistance of the interventional instrument is obtained according to the second rotation angle difference and the second corresponding relationship.

[0134] In the embodiment of the present application, for example, assuming that the end of the interventional instrument rotates at a constant speed during the rotation process, when the interventional instrument first moves in the area with resistance at an angular velocity When rotating, the movement of the front end of the interventional device will have a hysteresis time that satisfies the following formula (7):

[0135]

[0136] in, is the hysteresis time, or it can also be called the rotation time difference, is the rotation angle difference, is the rotational angular velocity of the interventional instrument.

[0137] Based on this, assuming that the first correspondence and the second correspondence are equal, that is, the second correspondence is also formula (6), and the third correspondence is formula (7), then the computer device can first determine the rotation time difference , and according to the third corresponding relationship, the rotation angular velocity in the speed parameter and rotation time difference , determine the second rotation angle difference , thus, according to the second corresponding relationship and the second rotation angle difference , the second torque resistance of the interventional instrument is calculated. The second rotation angle difference refers to the rotation angle difference between the front end and the end of the interventional instrument determined by the rotation time difference, and the second torque resistance refers to the force generated by the dynamic friction of the interventional instrument under dynamic rotation, which causes the entire interventional instrument to continue to rotate.

[0138] In this embodiment, the accurate third correspondence and the accurate second correspondence can be acquired in advance, so that the second rotation angle difference can be accurately determined based on the rotation time difference, speed parameters and the third correspondence, and then the second torque resistance of the interventional instrument can be accurately obtained based on the accurate second rotation angle difference and the second correspondence.

[0139] In one embodiment, a method for implementing torque detection is provided, namely, the step of “performing torque detection on the interventional instrument according to the first rotation angle difference and / or the rotation time difference to obtain a torque detection result of the interventional instrument” in S302 above, including:

[0140] The interventional instrument is subjected to torque detection according to the first rotation angle difference to obtain a first torque detection result of the interventional instrument.

[0141] The torque of the interventional instrument is detected according to the rotation time difference to obtain a second torque detection result of the interventional instrument.

[0142] A torque detection result of the interventional instrument is determined according to the first torque detection result and the second torque detection result.

[0143] In the embodiment of the present application, the computer device can perform torque detection on the interventional instrument according to the first rotation angle difference to obtain the first torque detection result of the interventional instrument, and the computer device can perform torque detection on the interventional instrument according to the rotation time difference to obtain the second torque detection result of the interventional instrument. Among them, the first torque detection result refers to the torque detection result of the interventional instrument determined according to the first rotation angle difference, that is, the first torque detection result can be understood as the first torque resistance; the second torque detection result refers to the torque detection result of the interventional instrument determined according to the rotation time difference, that is, the second torque detection result can be understood as the second torque resistance. The specific implementation method of determining the first torque detection result and the first torque detection result can be referred to the above embodiment, which will not be repeated here. Of course, the embodiment of the present application does not limit the order of determining the first torque detection result and the second torque detection result.

[0144] Thus, the computer device can perform data processing on the first torque detection result and the second torque detection result to obtain a data processing result, and determine the data processing result as the torque detection result of the interventional instrument. Exemplarily, the computer device can perform weighted averaging on the first torque detection result and the second torque detection result to obtain the torque detection result of the interventional instrument.

[0145] In this embodiment, torque detection can be performed on the interventional instrument based on the first rotation angle difference to obtain a first torque detection result of the interventional instrument, and torque detection can be performed on the interventional instrument based on the rotation time difference to obtain a second torque detection result of the interventional instrument. Thus, a comprehensive analysis can be performed based on the first torque detection result and the second torque detection result to more accurately determine the torque detection result of the interventional instrument.

[0146] In an optional embodiment, if Figure 8 As shown, a method for detecting torque of an interventional instrument is provided, which is applied to a computer device, comprising:

[0147] S21, obtaining the distal end rotation information of the interventional device;

[0148] S22, determining the front end rotation information of the interventional device according to the medical image;

[0149] S23, determining a first rotation angle difference according to the end rotation angle and the front rotation angle;

[0150] S24, obtaining relevant size parameters of the interventional device;

[0151] Obtaining a first torque resistance of the interventional device according to the rotation angle difference, the relevant size parameters and the first corresponding relationship;

[0152] S25, determining a rotation time difference according to the end rotation time and the front rotation time;

[0153] S26, obtaining a speed parameter of the interventional device;

[0154] According to the rotation time difference, the speed parameter and the third corresponding relationship, a second rotation angle difference is obtained;

[0155] S27, obtaining a second torque resistance of the interventional device according to the second rotation angle difference and the second corresponding relationship;

[0156] S28, determining a torque detection result of the interventional instrument according to the first torque resistance and the second torque resistance.

[0157] In the above-mentioned method for detecting the torque of the interventional instrument, the distal end rotation information of the interventional instrument is obtained; the front end rotation information of the interventional instrument is determined based on the medical image; the torque of the interventional instrument is detected based on the distal end rotation information and the front end rotation information to obtain the torque detection result of the interventional instrument. Since the embodiment of the present application can obtain the distal end rotation information of the interventional instrument based on the torsion information of the interventional instrument itself, and determine the front end rotation information of the interventional instrument based on the medical image, it is possible to combine the mechanical information of the interventional instrument and the information of the medical image to comprehensively detect the torque of the interventional instrument, so that a more accurate torque detection result of the interventional instrument can be obtained.

[0158] Based on the above embodiments, it can be known that the above-mentioned method for detecting the torque of the interventional instrument can, firstly, realize real-time intraoperative monitoring and operational feedback of the torque, effectively improve the operability of the surgical robot, improve the consistency between the robot operation and the traditional intraoperative operation, and reduce the learning difficulty of the doctor's transition from traditional surgery to robotic surgery; secondly, it can provide the surgeon with real-time intraoperative monitoring of the torque applied to the interventional instrument, predict the risks that may occur during the operation, and significantly improve the safety of the operation; thirdly, since the embodiment of the present application introduces the monitoring of the rotation angle corresponding to the mechanical fixing structure between the interventional instrument and the interventional surgical robot, compared with the torque detection method that only considers the shape of the interventional instrument in the medical imaging data, the embodiment of the present application can be combined with the interventional The mechanical information of the instrument and the information of the medical image can be used to perform torque detection on the interventional instrument in a multi-dimensional and comprehensive manner, which can reflect the torque resistance of the interventional instrument as a whole, and can more easily reduce the interference caused by the movement of the instrument due to non-operational reasons, and has better robustness; Fourth, the embodiment of the present application does not need to rely on force sensors or torque sensors, but directly uses the torsion of the interventional instrument itself to determine the torque resistance it is subjected to. Since the embodiment of the present application adopts a more direct measurement method, it can reduce errors caused by factors such as mechanical vibration, and has better robustness. At the same time, the embodiment of the present application can be implemented through software algorithms without the need for structural changes to existing interventional instruments or robotic surgical systems, and has good practicality and application prospects.

[0159] In addition, it should be noted that although the above-mentioned embodiments do not rely on force sensors or torque sensors in the process of torque detection, the torque detection method in the embodiments of the present application can also be used in combination with the torque detection method that relies on force sensors or torque sensors in the related technology, which does not affect the protection scope of this patent and the torque detection method.

[0160] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0161] Based on the same inventive concept, the embodiment of the present application also provides an interventional instrument torque detection device for implementing the above-mentioned interventional instrument torque detection method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above-mentioned method, so the specific limitations in the embodiments of one or more interventional instrument torque detection devices provided below can refer to the limitations of the interventional instrument torque detection method above, and will not be repeated here.

[0162] In an exemplary embodiment, Fig. 9 As shown, a detection device for the torque of an interventional instrument is provided, comprising: an acquisition module 31, a determination module 32 and a detection module 33, wherein:

[0163] The acquisition module 31 is used to acquire the distal end rotation information of the interventional instrument.

[0164] The determination module 32 is used to determine the front end rotation information of the interventional instrument according to the medical image.

[0165] The detection module 33 is used to perform torque detection on the interventional instrument according to the terminal rotation information and the front end rotation information to obtain the torque detection result of the interventional instrument.

[0166] In one embodiment, the detection module 33 includes:

[0167] a determination unit, configured to determine a first rotation angle difference and / or a rotation time difference according to the end rotation information and the front end rotation information;

[0168] The torque detection unit is used to perform torque detection on the interventional instrument according to the first rotation angle difference and / or rotation time difference to obtain a torque detection result of the interventional instrument.

[0169] In one embodiment, the end rotation information includes the end rotation angle, the front end rotation information includes the front end rotation angle, and the determining unit includes:

[0170] A first determining subunit, used to determine a first rotation angle difference according to a terminal rotation angle and a front end rotation angle;

[0171] The torque detection unit includes:

[0172] The first detection subunit is used to perform torque detection on the interventional instrument according to the first rotation angle difference to obtain a torque detection result of the interventional instrument.

[0173] In one embodiment, the torque detection result includes a first torque resistance, and the first detection subunit includes:

[0174] A first acquisition subunit is used to acquire relevant size parameters of the interventional device;

[0175] The first torque resistance determination subunit is used to obtain the first torque resistance of the interventional instrument according to the first rotation angle difference, relevant size parameters and the first corresponding relationship; the first corresponding relationship includes the corresponding relationship between the rotation angle difference, the relevant size parameters and the torque resistance.

[0176] In one embodiment, the above-mentioned detection device for the torque of the interventional instrument further comprises:

[0177] A target correspondence determination module, used to determine the target correspondence between the shear stress and the rotation angle difference corresponding to each facet on the cross section of the interventional device according to the relevant size parameters of the interventional device;

[0178] The first corresponding relationship determination module is used to perform integration processing according to the target corresponding relationship to obtain the first corresponding relationship.

[0179] In one embodiment, the end rotation information includes the end rotation time, the front end rotation information includes the front end rotation time, and the determining unit includes:

[0180] The second determining subunit is used to determine the rotation time difference according to the end rotation time and the front rotation time;

[0181] The torque detection unit includes:

[0182] The second detection subunit is used to perform torque detection on the interventional instrument according to the rotation time difference to obtain a torque detection result of the interventional instrument.

[0183] In one embodiment, the torque detection result includes a second torque resistance, and the second detection subunit includes:

[0184] A second acquisition subunit is used to acquire a speed parameter of the interventional device;

[0185] The second torque resistance determination subunit is used to obtain the second torque resistance of the interventional instrument according to the rotation time difference, the speed parameter and the second corresponding relationship; the second corresponding relationship includes the corresponding relationship between the rotation time difference, the speed parameter and the torque resistance.

[0186] In one embodiment, the second torque resistance determination subunit is specifically configured to:

[0187] According to the rotation time difference, the speed parameter and the third corresponding relationship, a second rotation angle difference is obtained;

[0188] A second torque resistance of the interventional instrument is obtained according to the second rotation angle difference and the second corresponding relationship.

[0189] In one embodiment, the torque detection unit comprises:

[0190] A first torque detection result determination subunit is used to perform torque detection on the interventional instrument according to the first rotation angle difference to obtain a first torque detection result of the interventional instrument;

[0191] A second torque detection result determination subunit is used to perform torque detection on the interventional instrument according to the rotation time difference to obtain a second torque detection result of the interventional instrument;

[0192] The torque detection result determination subunit is used to determine the torque detection result of the interventional instrument according to the first torque detection result and the second torque detection result.

[0193] Each module in the above-mentioned detection device for the torque of the interventional instrument can be implemented in whole or in part by software, hardware, or a combination thereof. Each of the above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory in the computer device in the form of software, so that the processor can call and execute the corresponding operations of each of the above modules.

[0194] In an exemplary embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as shown in FIG. Figure 1As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be realized through WIFI, a mobile cellular network, near field communication (Near Field Communication, NFC) or other technologies. When the computer program is executed by the processor, a method for detecting the torque of an interventional instrument is realized. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0195] Those skilled in the art will understand that Figure 1 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0196] In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0197] Obtaining the distal end rotation information of the interventional device;

[0198] Determine the front end rotation information of the interventional device based on medical images;

[0199] According to the terminal rotation information and the front end rotation information, the torque of the interventional instrument is detected to obtain the torque detection result of the interventional instrument.

[0200] In one embodiment, torque detection is performed on the interventional instrument according to the distal end rotation information and the front end rotation information to obtain a torque detection result of the interventional instrument. When the processor executes the computer program, the following steps are further implemented:

[0201] Determine a first rotation angle difference and / or a rotation time difference according to the end rotation information and the front end rotation information;

[0202] According to the first rotation angle difference and / or the rotation time difference, torque detection is performed on the interventional instrument to obtain a torque detection result of the interventional instrument.

[0203] In one embodiment, the terminal rotation information includes a terminal rotation angle, the front end rotation information includes a front end rotation angle, and the first rotation angle difference and / or the rotation time difference is determined according to the terminal rotation information and the front end rotation information. When the processor executes the computer program, the following steps are further implemented:

[0204] Determining a first rotation angle difference according to the end rotation angle and the front rotation angle;

[0205] According to the first rotation angle difference and / or the rotation time difference, torque detection is performed on the interventional instrument to obtain a torque detection result of the interventional instrument. When the processor executes the computer program, the following steps are also implemented:

[0206] The torque of the interventional instrument is detected according to the first rotation angle difference to obtain a torque detection result of the interventional instrument.

[0207] In one embodiment, the torque detection result includes a first torque resistance, and the torque detection is performed on the interventional instrument according to the first rotation angle difference to obtain the torque detection result of the interventional instrument. When the processor executes the computer program, the following steps are further implemented:

[0208] Obtain relevant size parameters of interventional devices;

[0209] According to the first rotation angle difference, the relevant size parameters and the first corresponding relationship, the first torque resistance of the interventional instrument is obtained; the first corresponding relationship includes the corresponding relationship between the rotation angle difference, the relevant size parameters and the torque resistance.

[0210] In one embodiment, in the method for determining the first corresponding relationship, when the processor executes the computer program, the processor further implements the following steps:

[0211] According to the relevant size parameters of the interventional device, the target corresponding relationship between the shear stress and the rotation angle difference corresponding to each facet on the cross section of the interventional device is determined;

[0212] An integration process is performed according to the target corresponding relationship to obtain a first corresponding relationship.

[0213] In one embodiment, the terminal rotation information includes the terminal rotation time, the front end rotation information includes the front end rotation time, and the first rotation angle difference and / or the rotation time difference is determined according to the terminal rotation information and the front end rotation information. When the processor executes the computer program, the following steps are further implemented:

[0214] Determine the rotation time difference according to the end rotation time and the front rotation time;

[0215] According to the first rotation angle difference and / or the rotation time difference, torque detection is performed on the interventional instrument to obtain a torque detection result of the interventional instrument. When the processor executes the computer program, the following steps are also implemented:

[0216] The torque of the interventional instrument is detected according to the rotation time difference to obtain the torque detection result of the interventional instrument.

[0217] In one embodiment, the torque detection result includes a second torque resistance, and the torque detection is performed on the interventional instrument according to the rotation time difference to obtain the torque detection result of the interventional instrument. When the processor executes the computer program, the following steps are further implemented:

[0218] Obtaining speed parameters of interventional devices;

[0219] According to the rotation time difference, the speed parameter and the second corresponding relationship, the second torque resistance of the interventional instrument is obtained; the second corresponding relationship includes the corresponding relationship between the rotation time difference, the speed parameter and the torque resistance.

[0220] In one embodiment, according to the rotation time difference, the speed parameter and the second corresponding relationship, the second torque resistance of the interventional instrument is obtained, and when the processor executes the computer program, the following steps are further implemented:

[0221] According to the rotation time difference, the speed parameter and the third corresponding relationship, a second rotation angle difference is obtained;

[0222] A second torque resistance of the interventional instrument is obtained according to the second rotation angle difference and the second corresponding relationship.

[0223] In one embodiment, according to the first rotation angle difference and / or the rotation time difference, torque detection is performed on the interventional instrument to obtain a torque detection result of the interventional instrument, and when the processor executes the computer program, the following steps are further implemented:

[0224] Performing torque detection on the interventional instrument according to the first rotation angle difference to obtain a first torque detection result of the interventional instrument;

[0225] Perform torque detection on the interventional device according to the rotation time difference to obtain a second torque detection result of the interventional device;

[0226] A torque detection result of the interventional instrument is determined according to the first torque detection result and the second torque detection result.

[0227] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0228] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0229] It should be noted that the information of users, operators or doctors involved in this application (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0230] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0231] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0232] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for detecting torque of an interventional instrument, characterized in that: The method comprises: Obtaining the distal end rotation information of the interventional device; Determining the front end rotation information of the interventional instrument according to the medical image; The interventional instrument is subjected to torque detection according to the distal end rotation information and the distal end rotation information to obtain a torque detection result of the interventional instrument.

2. The method according to claim 1, characterized in that The step of performing torque detection on the interventional instrument according to the terminal rotation information and the front end rotation information to obtain a torque detection result of the interventional instrument includes: Determining a first rotation angle difference and / or a rotation time difference according to the terminal rotation information and the front end rotation information; The torque detection is performed on the interventional instrument according to the first rotation angle difference and / or the rotation time difference to obtain a torque detection result of the interventional instrument.

3. The method according to claim 2, characterized in that The terminal rotation information includes a terminal rotation angle, the front end rotation information includes a front end rotation angle, and determining a first rotation angle difference and / or a rotation time difference according to the terminal rotation information and the front end rotation information includes: Determining a first rotation angle difference according to the end rotation angle and the front end rotation angle; The step of performing torque detection on the interventional instrument according to the first rotation angle difference and / or the rotation time difference to obtain a torque detection result of the interventional instrument includes: The torque of the interventional instrument is detected according to the first rotation angle difference to obtain a torque detection result of the interventional instrument.

4. The method according to claim 3, characterized in that The torque detection result includes a first torque resistance, and performing torque detection on the interventional instrument according to the first rotation angle difference to obtain the torque detection result of the interventional instrument includes: Obtaining relevant size parameters of the interventional device; The first torque resistance of the interventional instrument is obtained according to the first rotation angle difference, the relevant size parameters and the first corresponding relationship; the first corresponding relationship includes the corresponding relationship between the rotation angle difference, the relevant size parameters and the torque resistance.

5. The method according to claim 4, characterized in that The method for determining the first corresponding relationship includes: Determining a target corresponding relationship between shear stress and rotation angle difference corresponding to each facet on a cross section of the interventional device according to relevant size parameters of the interventional device; Integral processing is performed according to the target corresponding relationship to obtain the first corresponding relationship.

6. The method according to claim 2, characterized in that The terminal rotation information includes the terminal rotation time, the front end rotation information includes the front end rotation time, and determining the first rotation angle difference and / or the rotation time difference according to the terminal rotation information and the front end rotation information includes: Determining a rotation time difference according to the end rotation time and the front rotation time; The step of performing torque detection on the interventional instrument according to the first rotation angle difference and / or the rotation time difference to obtain a torque detection result of the interventional instrument includes: The torque of the interventional instrument is detected according to the rotation time difference to obtain a torque detection result of the interventional instrument.

7. The method according to claim 6, characterized in that The torque detection result includes a second torque resistance, and performing torque detection on the interventional instrument according to the rotation time difference to obtain the torque detection result of the interventional instrument includes: Acquiring a speed parameter of the interventional device; A second torque resistance of the interventional instrument is obtained according to the rotation time difference, the speed parameter and a second corresponding relationship; the second corresponding relationship includes a corresponding relationship between the rotation time difference, the speed parameter and the torque resistance.

8. The method according to claim 7, characterized in that The obtaining, according to the rotation time difference, the speed parameter and the second corresponding relationship, a second torque resistance of the interventional instrument comprises: Obtaining a second rotation angle difference according to the rotation time difference, the speed parameter and a third corresponding relationship; A second torque resistance of the interventional instrument is obtained according to the second rotation angle difference and the second corresponding relationship.

9. The method according to claim 2, characterized in that: The step of performing torque detection on the interventional instrument according to the first rotation angle difference and / or the rotation time difference to obtain a torque detection result of the interventional instrument includes: Performing torque detection on the interventional instrument according to the first rotation angle difference to obtain a first torque detection result of the interventional instrument; Performing torque detection on the interventional instrument according to the rotation time difference to obtain a second torque detection result of the interventional instrument; The torque detection result of the interventional instrument is determined according to the first torque detection result and the second torque detection result.

10. A device for detecting torque of an interventional instrument, characterized in that: The device comprises: An acquisition module, used to acquire the distal end rotation information of the interventional device; A determination module, used to determine the front end rotation information of the interventional instrument according to the medical image; The detection module is used to perform torque detection on the interventional instrument according to the terminal rotation information and the front end rotation information to obtain the torque detection result of the interventional instrument.

11. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 9 are implemented.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 9 are implemented.

13. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 9 are implemented.

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