Teleoperation control method and system for alimentary canal catheterization robot

Abstract

The invention relates to the technical field of medical robot control, in particular to a teleoperation control method and system for an alimentary canal catheterization robot. The control method comprises the following steps: acquiring digestive tract three-dimensional structure data of a patient by utilizing imaging equipment; based on the three-dimensional structure data, establishing a patient individualized three-dimensional operation model through a teleoperation system; planning a catheterization path and an operation strategy according to the three-dimensional operation model; collecting motion state data of the alimentary canal catheterization robot in real time through a sensor of the teleoperation system; dynamically matching the motion state data acquired in real time with the three-dimensional operation model of the patient; deviation information fed back by a sensor in the operation process is obtained, an angle error signal is generated, and the catheter arranging robot is corrected in real time by adjusting a control strategy; the control system comprises a target sensor, a teleoperation part, a control module and an upper computer. By means of the mode, delay is reduced, high-precision control is provided, the force sensing technology is introduced, the feedback experience of an operator is enhanced, and therefore the precision and safety of surgical operation are improved.

Description

Technical Field

[0001] The present invention relates to the field of medical robot control technology, and in particular to a remote operation control method and system for a digestive tract catheterization robot. Background Art

[0002] With the rapid development of robotics and artificial intelligence, robotics is increasingly being used in the medical field, especially in endoscope-assisted surgery. In particular, in gastrointestinal catheterization surgery, robots provide doctors with new operating methods through precise motion control and high-precision sensor technology, greatly improving the safety and efficiency of surgery. However, despite the broad application prospects of robotics in medicine, there are still many technical problems that need to be solved in actual operation.

[0003] At present, the existing gastrointestinal catheterization robot teleoperation system still faces several technical bottlenecks. First, due to network delay and transmission bandwidth limitations, the control instructions in the teleoperation system often cannot be fed back to the robot platform in time, resulting in delays in robot movements, affecting the operation accuracy and the operator's control experience. Especially in the process of real-time image transmission and sensor feedback, any delay will have an adverse effect on the safety of the operation. Secondly, the special anatomical structure and surgical environment of the digestive tract require extremely high robot operation accuracy, but the existing system often fails to effectively solve the problem of robot motion control in a narrow space in practical applications, resulting in inaccurate catheterization or collision with the digestive tract wall, thereby increasing the risk of surgery. Furthermore, the existing robot system usually lacks an effective force feedback mechanism, and it is difficult for the operator to perceive the contact force between the robot and the digestive tract wall, which increases the difficulty of operation and may lead to excessive catheterization or damage to the patient's tissue. In addition, the traditional teleoperation system is usually operated in a single control mode, ignoring the difference in body shape between the operator and the robot, resulting in limited control accuracy. In the prior art, the operator can only rely on the traditional handle or console during the operation, and lacks a more intuitive and immersive feedback mechanism, which makes it difficult for the operator to judge the position and state of the robot in the patient's body in real time, thereby affecting the effect and safety of the operation. In addition, traditional gastrointestinal catheterization operations usually have problems such as limited field of view and operation restricted by spatial conditions, which seriously affect the precise control and decision-making during the operation.

[0004] In summary, it is very necessary to propose a remote control method and system for a gastrointestinal catheterization robot that reduces delays, provides high-precision control, introduces force sensing technology, and enhances the operator's feedback experience, thereby improving the accuracy and safety of surgical operations. Summary of the invention

[0005] The purpose of the present invention is to provide a remote control method and system for a gastrointestinal catheterization robot, aiming to reduce delays, provide high-precision control, introduce force sensing technology and enhance the operator's feedback experience, thereby improving the accuracy and safety of surgical operations.

[0006] To achieve the above object, the present invention adopts a remote control method for a digestive tract catheterization robot, comprising the following steps:

[0007] Acquiring three-dimensional structural data of the patient's digestive tract using imaging equipment; wherein the three-dimensional structural data includes complete anatomical features of the patient's digestive tract;

[0008] Based on the three-dimensional structure data, a three-dimensional operation model of the patient individualized is established through a teleoperation control system; the three-dimensional operation model is expressed as:

[0009]

[0010] Among them, (x u ,y i ,z i ) is the coordinate of each point in space, and N is the total number of points;

[0011] The catheterization path and operation strategy are planned according to the three-dimensional operation model. The planning process includes accurate calculation of the advancement angle, rotation angle and catheterization depth. The path planning formula is as follows:

[0012]

[0013] Among them, f(P u ,S,R) is an optimization function that represents the risk and efficiency of the path, S is the anatomical structure constraint, and R is the robot motion capability constraint;

[0014] During the operation, the motion state data of the digestive tract catheterization robot is collected in real time through the sensors of the teleoperation system; wherein the motion state data includes pressure P, temperature T, and visual feedback V information;

[0015] The real-time acquired motion state data is combined with the patient's three-dimensional operation model M 3D Perform dynamic matching to obtain feedback signal F sensor Optimize the robot's motion path P(t) and posture θ(t);

[0016] The deviation information ΔP fed back by the sensor during the operation is obtained, an angle error signal is generated, and the intubation robot is corrected in real time by adjusting the control strategy; the update formula of the corrected trajectory is:

[0017] P new (t) = P prev(t)+ΔP corr ;

[0018] Among them, ΔP corr is the correction amount.

[0019] Among them, in the step of obtaining the patient's digestive tract three-dimensional structure data using imaging equipment:

[0020] The imaging equipment includes CT equipment, MRI equipment, and endoscope equipment, which are used to collect multimodal imaging data of the patient's digestive tract.

[0021] Wherein, the real-time collected motion state data is combined with the patient's three-dimensional operation model M 3D Perform dynamic matching to obtain feedback signal F sensor In the steps of optimizing the robot's motion path P(t) and posture θ(t):

[0022] The advancement speed, rotation angle and insertion depth of the cannulation robot are monitored in real time through sensor feedback information;

[0023] Dynamically adjust the movement range and strength of the catheter placement robot based on key anatomical area information in the patient's three-dimensional operation model;

[0024] When the sensor detects abnormally high-pressure areas and sensitive parts in the digestive tract, the propulsion speed is reduced and the movement path is optimized.

[0025] Among them, in the step of real-time monitoring of the advancement speed, rotation angle and cannulation depth of the cannulation robot through sensor feedback information:

[0026] The sensors include pressure sensors, temperature sensors and visual sensors; among them:

[0027] The pressure sensor is used to detect the real-time change of the pressure P in the digestive tract during the catheterization process;

[0028] The temperature sensor is used to monitor the temperature T change in the digestive tract operating environment;

[0029] The visual sensor is used to capture the real-time image V inside the digestive tract.

[0030] The present invention also provides a remote control system for a digestive tract catheterization robot, comprising a target sensor, a remote control component, a control module and a host computer, wherein the target sensor, the remote control component and the host computer are respectively connected to the control module.

[0031] Wherein, the target sensor is used to collect the motion state data in the catheterization operation in real time, including pressure, temperature and visual feedback information;

[0032] The remote operation component includes a robot execution unit and an operation feedback module; wherein the robot execution unit performs the catheterization operation according to the operator's instructions, and the operation feedback module is used to transmit real-time feedback information during the catheterization process to the operator;

[0033] The control module is used to receive real-time feedback signals, calculate operation deviations, and adjust the movement path, posture, and strength of the cannulation robot according to the deviation information;

[0034] The host computer is used to receive feedback signals, generate instructions for controlling the movement of the robot, and provide parameter adjustment functions through a human-computer interaction interface.

[0035] The invention discloses a remote control method and system for a digestive tract catheterization robot. The control method comprises: using imaging equipment to obtain three-dimensional structural data of a patient's digestive tract; wherein the three-dimensional structural data comprises complete anatomical features of the patient's digestive tract; based on the three-dimensional structural data, establishing a three-dimensional operation model of the patient's individuality through a remote control system; the three-dimensional operation model is represented as:

[0036]

[0037] The catheterization path and operation strategy are planned according to the three-dimensional operation model. The planning process includes accurate calculation of the advancement angle, rotation angle and catheterization depth. The path planning formula is as follows:

[0038]

[0039] During the operation, the motion state data of the digestive tract catheterization robot is collected in real time through the sensors of the remote operation system; wherein the motion state data includes pressure P, temperature T, and visual feedback V information; the real-time collected motion state data is compared with the patient's three-dimensional operation model M 3D Perform dynamic matching to obtain feedback signal F sensor Optimize the robot's motion path P(t) and posture θ(t); obtain the deviation information ΔP fed back by the sensor during the operation, generate an angle error signal, and make real-time corrections to the intubation robot by adjusting the control strategy; the update formula for the corrected trajectory is:

[0040] P new (t) = P prev (t)+ΔP corr ;

[0041] In the control system, the target sensor, the remote operation component, the control module and the host computer are used to control the gastrointestinal catheterization robot; through the above-mentioned method, it is possible to reduce delays, provide high-precision control, introduce force sensing technology and enhance the operator's feedback experience, thereby improving the accuracy and safety of surgical operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0043] Figure 1 It is a flow chart of the steps of the remote operation control method for the digestive tract catheterization robot of the present invention.

[0044] Figure 2 It is a structural principle diagram of the remote control system for the digestive tract catheterization robot of the present invention.

[0045] Figure 3 It is a schematic diagram of the interface of the host computer of the present invention.

[0046] 701-target sensor, 702-remote operation component, 703-control module, 704-host computer. DETAILED DESCRIPTION

[0047] Here, exemplary embodiments are described in detail, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application.

[0048] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0049] It should be understood that although the terms first, second, third, etc. may be used in the present application to describe various information, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0050] See also Figure 1The present invention provides a remote control method for a digestive tract catheterization robot, comprising the following steps:

[0051] S100: Acquire three-dimensional structural data of the patient's digestive tract using imaging equipment; wherein the three-dimensional structural data includes complete anatomical features of the patient's digestive tract;

[0052] Furthermore, the imaging equipment includes CT equipment, MRI equipment, and endoscope equipment, which are used to collect multimodal imaging data of the patient's digestive tract.

[0053] In this embodiment, before the operation, it is first necessary to obtain the three-dimensional structural data of the patient's digestive tract. This step is completed by the imaging equipment in the remote control system, such as using a computed tomography (CT) or magnetic resonance imaging (MRI) device. These devices can provide detailed images of the patient's digestive tract, including shape, size, position information, and the condition of surrounding tissues, as an accurate basis for subsequent catheterization operations. The use of imaging equipment requires professional training to ensure that the operator correctly obtains the required data. The parameter settings of the imaging equipment need to be adjusted according to the specific situation of the patient, such as the voltage, current, and exposure time of the CT scan, to reduce the radiation dose and improve the image quality.

[0054] S200: Based on the three-dimensional structure data, establish a three-dimensional operation model of the patient through a remote operation control system; the three-dimensional operation model is represented as:

[0055]

[0056] Among them, (x u ,y i ,z i ) is the coordinate of each point in space, and N is the total number of points.

[0057] In this embodiment, the acquired image data is then transmitted to a data processing center, and the structural information of the digestive tract is extracted through advanced image processing algorithms, and common algorithms include edge detection, region growing, and 3D reconstruction. Through these algorithms, an accurate 3D model of the digestive tract is generated. Assuming that the generated 3D model is composed of N points, representing the spatial curves and surfaces of the digestive tract, the model can be expressed as:

[0058]

[0059] Among them, (x i ,y u ,z u ) is the coordinate of each point in space, and N is the total number of points.

[0060] Based on the acquired imaging data, an individualized three-dimensional operation model is further established. The model takes into account the patient's anatomical characteristics, such as the curvature of the digestive tract and narrow areas, to ensure the accuracy of the robot's operation. Through this model, the robot can adjust the operation strategy according to the patient's specific anatomical structure, thereby improving the safety and success rate of the operation.

[0061] The establishment of a 3D operation model involves complex geometric modeling and simulation technology. First, the contours and surface features of the digestive tract are extracted from the image data, and then these features are used to build a 3D geometric model. The model includes not only the physical structure of the digestive tract, but also the surrounding tissues to avoid damage to other organs during surgery.

[0062] The 3D model needs to be verified and calibrated to ensure it matches the patient’s actual anatomy. This can be done by comparing it to actual anatomical data or by performing a simulation prior to surgery.

[0063] S300: planning the catheterization path and operation strategy according to the three-dimensional operation model. The planning process includes accurate calculation of the advancement angle, rotation angle and catheterization depth. The path planning formula is as follows:

[0064]

[0065] Among them, f(P u ,S,R) is an optimization function that represents the risk and efficiency of the path, S is the anatomical structure constraint, and R is the robot motion capability constraint.

[0066] In this embodiment, once the three-dimensional model is established, the teleoperation control system will input these anatomical images into the robot, and the robot will plan an optimal operation path and action plan based on the input image data, providing accurate data support for the subsequent teleoperation process.

[0067] The path planning process involves knowledge from multiple disciplines, such as robotics, control theory, and optimization algorithms. First, define the target point P opt , which is the catheterization end point, and then evaluate all possible paths P i The safety and efficiency of the route are optimized, and the best path is selected. The path planning formula is:

[0068]

[0069] Among them, f(P i ,S,R) is an optimization function that represents the risk and efficiency of the path, S is the anatomical structure constraint, and R is the robot motion capability constraint.

[0070] Path planning takes into account the robot's motion limitations and the patient's anatomy. The complexity of certain areas may require the path to be avoided, or the path may need to be adjusted to take into account factors such as tissue elasticity.

[0071] S400: During the operation, the motion state data of the digestive tract catheterization robot is collected in real time through the sensors of the remote operation system; wherein the motion state data includes pressure P, temperature T, and visual feedback V information.

[0072] In this embodiment, the teleoperation control system collects the motion state of the digestive tract catheterization robot in real time through sensors. These sensors include pressure sensors, temperature sensors, and visual sensors, and the data provided include information such as pressure P, temperature T, and visual feedback V. This information is crucial for monitoring the robot's movements.

[0073] The data acquisition of the sensor is a high-frequency and high-precision process. The pressure sensor monitors the contact force P contact , to avoid excessive pressure on the digestive tract wall; the temperature sensor measures the ambient temperature T env , to prevent thermal damage; visual sensors provide image data V image , helping the operator to better understand the surgical environment. The real-time sampling rate can be expressed as:

[0074]

[0075] Wherein, Δt is the sampling period.

[0076] The sampled data is processed, and the real-time nature of the data is determined by the transmission delay τ trans Indicates that the total delay should satisfy τ trans ≤τ max , where τ max is the maximum delay allowed by the system.

[0077] S500: The real-time acquired motion state data is combined with the patient's three-dimensional operation model M 3D Perform dynamic matching to obtain feedback signal F sensor Optimize the robot's motion path P(t) and posture θ(t);

[0078] Furthermore, the real-time acquired motion state data is combined with the patient's three-dimensional operation model M 3D Dynamic matching is performed, combined with the feedback signal F sensor Optimize the robot's motion path P(t) and posture θ(t) to ensure high accuracy and safety of the catheterization operation:

[0079] The advancement speed, rotation angle and insertion depth of the cannulation robot are monitored in real time through sensor feedback information;

[0080] Dynamically adjust the movement range and strength of the catheter placement robot based on key anatomical area information in the patient's three-dimensional operation model;

[0081] When the sensor detects abnormally high pressure areas and sensitive parts in the digestive tract, the propulsion speed is reduced and the movement path is optimized;

[0082] Further, in the step of real-time monitoring the advancement speed, rotation angle and cannulation depth of the cannulation robot through sensor feedback information:

[0083] The sensors include pressure sensors, temperature sensors and visual sensors; among them:

[0084] The pressure sensor is used to detect the real-time change of the pressure P in the digestive tract during the catheterization process;

[0085] The temperature sensor is used to monitor the temperature T change in the digestive tract operating environment;

[0086] The visual sensor is used to capture the real-time image V inside the digestive tract.

[0087] In this embodiment, the pressure sensor is used to detect the real-time change of the pressure P in the digestive tract during the catheterization process to ensure the safety of the operation; the temperature sensor is used to monitor the temperature T change in the digestive tract operation environment to prevent risks caused by abnormal temperature; the visual sensor is used to capture the real-time image V inside the digestive tract to help the operator accurately locate the catheter path and monitor the operation process; based on the feedback signal F sensor , combined with the patient's three-dimensional operating model M 3D , optimize the robot's motion path P(t) and posture θ(t) in real time. The optimization goal is to make the robot's movements accurate and safe, and minimize operational risks.

[0088] The processing of feedback signals involves the fusion and interpretation of multiple sensor data. For example, visual feedback can provide intuitive information about the robot's position, while pressure and temperature feedback can provide the physical characteristics of the operating environment. Combining this information, a comprehensive view of the surgical status is formed, and decisions are made based on it. Feedback signal fusion can be achieved through weighted combination, such as:

[0089] F combined =αP contact +βT env +γV image ;

[0090] Among them, α, β, and γ are weight factors of different signals, and the choice of weights depends on the specific surgical requirements.

[0091] The processing of feedback signals also needs to take into account the delay and uncertainty of the system. For example, due to communication delays, sensor data may not be real-time, or due to measurement errors, the data may not be completely accurate. The total feedback error can be expressed as:

[0092] ∈ total =∈ measure +∈ delay .

[0093] S600: Obtain the deviation information ΔP fed back by the sensor during the operation, generate an angle error signal, and make real-time corrections to the intubation robot by adjusting the control strategy; the update formula of the correction trajectory is:

[0094] P new (t) = P prev (t)+ΔP corr ;

[0095] Among them, ΔP corr is the correction amount.

[0096] In this embodiment, if the feedback information indicates that there is a deviation ΔR during the operation, the teleoperation control system will calculate the correction value ΔP based on the deviation information. corr The system will automatically adjust to ensure that the robot can continue to perform the cannulation operation according to the predetermined trajectory to avoid major deviations during the operation. The update formula for the corrected trajectory is:

[0097] P new (t) = P prev (t)+ΔP corr ;

[0098] The deviation correction process dynamically calculates the correction path and adjusts the robot's motion in real time. For example, if the deviation from the target path P target (t), the system will be corrected according to the following formula:

[0099] ΔP corr =K P ·(P target -P current );

[0100] Among them, K P is the proportional gain parameter.

[0101] During the correction process, the system also needs to consider the impact of digestive tract peristalsis M(t) and respiratory movement B(t) on the path. The total correction amount is:

[0102] ΔP total =ΔR corr +M(t)+B(t).

[0103] Furthermore, after the correction, the steps of integrating sensors and manual intervention are also performed;

[0104] Among the steps of integrating the sensor:

[0105] To achieve comprehensive monitoring, multiple sensor units work together to generate a comprehensive state vector S:

[0106] S={P contact ,T env ,V image ,…};

[0107] The data from different sensors are processed by fusion algorithms, such as Kalman filters:

[0108] S fused =K·S;

[0109] Where K is the filter gain matrix.

[0110] The integrated design needs to take into account both sensor compatibility and modularity. For example, if a new sensor S is added new , its compatibility with existing systems can be verified by the following conditions:

[0111] C compat =f(S new ,S existing );

[0112] Application of predictive control function:

[0113] The teleoperation system integrates predictive control functions. By combining historical operation data and current real-time feedback, the system can predict potential operation risks in advance and actively adjust the robot's motion strategy to further improve the safety of surgery. real-time , establish the prediction model P model The objective function of the prediction model is:

[0114]

[0115] in, is the error function.

[0116] Predictive control adjusts the robot's action strategy R strategy (t), the optimization objective is:

[0117]

[0118] in, is the cost function.

[0119] Predictive control also requires real-time updates and adjustments. For example, as surgery progresses, new data is generated and the predictive model needs to be able to adjust based on this new data to maintain its accuracy and relevance. Predictive control models need to be dynamically updated to maintain relevance:

[0120] P model,new =P model,old +ΔP.

[0121] Among the steps of manual intervention:

[0122] Through the feedback mechanism, the operator can flexibly adjust the robot's motion path and posture with the support of the teleoperation control system. The operator adjusts the robot parameters through feedback:

[0123] θ={θ push ,θ rotate ,d depth};

[0124] where θ push is the thrust angle, θ rotate is the rotation angle, d depth The depth of the tube.

[0125] Operator intervention requires an intuitive user interface and effective control mechanism. For example, the operator can control the robot through a touch screen or joystick, and the system needs to be able to quickly and accurately transmit the operator's instructions to the robot.

[0126] Operator intervention also needs to take into account the operator's skills and experience. For example, for experienced operators, the system may provide more autonomy, while for novice operators, the system may provide more guidance and support. The system can dynamically adjust control permissions based on the operator's skill level, with permission levels L and L. ctrl It can be expressed hierarchically as:

[0127] L ctrl =f(Experience operator ).

[0128] See also Figure 2 and Figure 3 The present invention also provides a remote control system for a digestive tract catheterization robot, comprising a target sensor 701, a remote control component 702, a control module 703 and a host computer 704, wherein the target sensor 701, the remote control component 702 and the host computer 704 are respectively connected to the control module 703; wherein:

[0129] The target sensor 701 is used to collect the motion state data during the catheter placement operation in real time, including pressure, temperature and visual feedback information;

[0130] The remote operation component 702 includes a robot execution unit and an operation feedback module; wherein the robot execution unit performs the catheter placement operation according to the operator's instructions, and the operation feedback module is used to transmit real-time feedback information during the catheter placement process to the operator;

[0131] The control module 703 is used to receive real-time feedback signals, calculate operation deviations, and adjust the movement path, posture, and strength of the catheter placement robot according to the deviation information;

[0132] The host computer 704 is used to receive feedback signals, generate instructions for controlling the movement of the robot, and provide parameter adjustment functions through a human-computer interaction interface.

[0133] In this embodiment, the target sensor 701 is used to collect real-time data during the process of gastrointestinal catheterization. These sensors provide necessary data support for the control module 703 by accurately monitoring the robot's motion state and operating environment. These data include information such as the robot's position, speed, acceleration, and pressure of contact with surrounding tissues.

[0134] The selection and configuration of the target sensor 701 needs to take into account the accuracy and reliability of the measurement. For example, the pressure sensor needs to be sensitive enough to detect small pressure changes, while the temperature sensor needs to be able to withstand the high temperature environment in the digestive tract. The output of the sensor can be represented as a multidimensional vector:

[0135] S={P pos ,V pos ,A pos ,P pressure ,T temperature};

[0136] Among them, P pos Indicates position, V pos Indicates speed, A pos represents acceleration, P pressure Indicates the contact pressure, T temperature Indicates temperature.

[0137] The data collection and transmission of the target sensor 701 need to be real-time and stable. For example, data transmission may be carried out through a wireless network (such as Wi-Fi) to reduce the interference and limitation of cables, and data collection may require high-frequency sampling to capture rapidly changing physiological states.

[0138] The remote operation component 702 includes a robot execution unit and an operation feedback module. The execution unit performs the digestive tract cannulation operation according to the operator's instructions, and at the same time helps the operator understand the current state of the robot through feedback information to ensure the accuracy of the operation.

[0139] The design of the robot actuator needs to consider the balance between force and precision. For example, the actuator needs to be strong enough to overcome the resistance in the digestive tract, while being precise enough to avoid damage to surrounding tissues. Assume that the output force of the robot actuator is F robot , it needs to meet the following conditions:

[0140] F robot =λF resistance +γF precision ;

[0141] Among them, F resistance is resistance, F precision For precision control, λ and γ are the corresponding weight factors.

[0142] The control of the robot's actuator requires a high degree of flexibility and responsiveness. For example, the actuator needs to be able to respond quickly to the operator's instructions and adapt to sudden changes during the operation. For example, the movement of the actuator can be described as:

[0143]

[0144] Among them, R is the robot position, v(t) is the instantaneous velocity, and T is the time range.

[0145] The control module 703 is responsible for real-time processing of the collected data, calculating the operation deviation, and accurately adjusting the robot's actions based on the deviation information. This intelligent control process ensures that the system can maintain the efficient operation of the robot at any time.

[0146] The control module 703 needs to integrate advanced control algorithms and artificial intelligence technologies. These algorithms can parse sensor data, identify patterns and trends in the operation process, and make decisions accordingly. For example, the control module may use machine learning algorithms to predict the future state of the robot, or use fuzzy logic to deal with uncertainty and ambiguity. The optimization problem of machine learning can be expressed as:

[0147]

[0148] Where W is the weight vector, x i is the input feature, y i is the actual output, f(x i ; W) is the prediction function, N is the number of samples, and λ is the regularization parameter.

[0149] The host computer 704 is the interface for the operator to interact with the teleoperation control system, and is responsible for receiving feedback signals from the control module and generating instructions for controlling the robot based on these signals. The host computer processes real-time feedback to ensure that the operator can make decisions quickly and intervene effectively, thereby ensuring the smooth progress of the catheterization operation.

[0150] The host computer 704 needs to be user-friendly and intuitive. The operator interface should clearly display all necessary information, such as the status of the robot, sensor readings, and the progress of the operation. In addition, the host computer should provide intuitive control tools, such as a touch screen or a joystick, so that the operator can easily control the robot. The user interface UI of the host computer 704 can be expressed as:

[0151] UI=f(S feedback ,R state );

[0152] Among them, S feedback Represents the feedback signal, R state Indicates the status of the robot.

[0153] In order to adapt to the anatomical characteristics of different patients, the host computer 704 can provide a personalized parameter adjustment interface. Figure 3 As shown, Figure 3 704 is a schematic diagram of the interface of the host computer 704, through which the operator can adjust key parameters, such as advancement speed, rotation angle, and catheterization depth, to meet specific surgical requirements.

[0154] The design of the personalized parameter adjustment interface needs to take into account the convenience and flexibility of the operator. The interface should allow the operator to quickly adjust the parameters while providing real-time feedback so that the operator can evaluate the effect of the adjustment. The dynamic process of parameter adjustment can be expressed by the following formula:

[0155] Δθ=k(θ target -θ current );

[0156] Among them, Δθ is the parameter adjustment amount, θ target is the target parameter, θ current is the current parameter, and k is the adjustment rate.

[0157] The personalized parameter adjustment interface should also provide preset parameter templates so that the operator can select the appropriate template according to the patient's specific situation and make fine adjustments.

[0158] The teleoperation control system also includes a communication system for transmitting data and instructions between the operator and the robot. The communication system needs to ensure the real-time and reliability of the data to ensure the smooth progress of the operation.

[0159] The communication system may include wired and wireless technologies such as Ethernet, Wi-Fi, Bluetooth, or 5G networks. The technology selected depends on the specific requirements of the surgical environment, such as distance, interference, and bandwidth.

[0160] The communication system also needs to have error detection and correction capabilities to ensure the integrity and accuracy of the data. For example, the communication system may use redundant transmission and checksums to ensure the correct transmission of data. The communication protocol can be expressed as:

[0161] C = Protocol (D, A, T);

[0162] Among them, C represents the communication protocol, D is the data packet, A is the confirmation code, and T is the timestamp.

[0163] To ensure the safety of the surgery, the teleoperation control system also includes safety and emergency stop mechanisms, which allow the operator to immediately stop the robot's operation if an abnormal situation is detected.

[0164] Safety and emergency stop mechanisms need to be designed with quick response and easy access in mind. For example, emergency stop buttons should be located within easy reach of the operator and should be clearly marked. Safety mechanisms can be represented by the following conditions:

[0165] E=f(P limit ,T threshold );

[0166] Among them, E is the emergency stop signal, P limit is the operation limit parameter, T threshold It is a temperature valve.

[0167] Safety and emergency stop mechanisms should also include automatic monitoring features, such as overload protection and temperature monitoring, to automatically stop the robot’s operation when potential hazards are detected.

[0168] What is disclosed above is only one or more preferred embodiments of the present invention, which certainly cannot be used to limit the scope of rights of the present invention. Ordinary technicians in this field can understand that all or part of the processes of implementing the above embodiments and making equivalent changes according to the claims of the present invention still fall within the scope of the invention.

Claims

1. A remote control method for a digestive tract catheterization robot, characterized in that: The steps include: Use imaging equipment to obtain the patient's digestive tract three-dimensional structure data; wherein the three-dimensional structural data includes complete anatomical features of the patient's digestive tract; Based on the three-dimensional structure data, a three-dimensional operation model of the patient individualized is established through a teleoperation control system; the three-dimensional operation model is expressed as: Among them, (x i ,y i ,z i ) is the coordinate of each point in space, and N is the total number of points; The catheterization path and operation strategy are planned according to the three-dimensional operation model. The planning process includes accurate calculation of the advancement angle, rotation angle and catheterization depth. The path planning formula is as follows: Among them, f(P i ,S,R) is an optimization function that represents the risk and efficiency of the path, S is the anatomical structure constraint, and R is the robot motion capability constraint; During the operation, the motion state data of the digestive tract catheterization robot is collected in real time through the sensors of the teleoperation system; wherein the motion state data includes pressure P, temperature T, and visual feedback V information; The real-time acquired motion state data is combined with the patient's three-dimensional operation model M 3D Perform dynamic matching to obtain feedback signal F sensor Optimize the robot's motion path P(t) and posture θ(t); The deviation information ΔP fed back by the sensor during the operation is obtained, an angle error signal is generated, and the intubation robot is corrected in real time by adjusting the control strategy; the update formula of the corrected trajectory is: P new (t)=P prev (t)+ΔP corr ; Among them, ΔP corr is the correction amount.

2. The remote control method for the digestive tract catheterization robot according to claim 1, characterized in that: In the step of obtaining the three-dimensional structure data of the patient's digestive tract using imaging equipment: The imaging equipment includes CT equipment, MRI equipment, and endoscope equipment, which are used to collect multimodal imaging data of the patient's digestive tract.

3. The remote control method for the digestive tract catheterization robot according to claim 1, characterized in that: In the process of combining the real-time acquired motion state data with the patient's three-dimensional operation model M 3D Perform dynamic matching to obtain feedback signal F sensor In the steps of optimizing the robot's motion path P(t) and posture θ(t): The advancement speed, rotation angle and insertion depth of the cannulation robot are monitored in real time through sensor feedback information; Dynamically adjust the movement range and strength of the catheter placement robot based on key anatomical area information in the patient's three-dimensional operation model; When the sensor detects abnormally high-pressure areas and sensitive parts in the digestive tract, the propulsion speed is reduced and the movement path is optimized.

4. The remote control method for the digestive tract catheterization robot according to claim 3, characterized in that: In the step of real-time monitoring of the advancement speed, rotation angle, and cannulation depth of the cannulation robot through sensor feedback information: The sensors include pressure sensors, temperature sensors and visual sensors; among them: The pressure sensor is used to detect the real-time change of the pressure P in the digestive tract during the catheterization process; The temperature sensor is used to monitor the temperature T change in the digestive tract operating environment; The visual sensor is used to capture the real-time image V inside the digestive tract.

5. A remote control system for a digestive tract catheterization robot, applied to the remote control method for a digestive tract catheterization robot as claimed in claim 1, characterized in that: The system comprises a target sensor, a remote operation component, a control module and a host computer. The target sensor, the remote operation component and the host computer are respectively connected to the control module.

6. The remote control system for the digestive tract catheterization robot according to claim 5, characterized in that: The target sensor is used to collect motion state data during the catheter placement operation in real time, including pressure, temperature and visual feedback information; The remote operation component includes a robot execution unit and an operation feedback module; wherein the robot execution unit performs the catheterization operation according to the operator's instructions, and the operation feedback module is used to transmit real-time feedback information during the catheterization process to the operator; The control module is used to receive real-time feedback signals, calculate operation deviations, and adjust the movement path, posture, and strength of the cannulation robot according to the deviation information; The host computer is used to receive feedback signals, generate instructions for controlling the movement of the robot, and provide parameter adjustment functions through a human-computer interaction interface.

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