A remote control method and system for a digestive tract catheterization robot

Abstract

The present invention relates to the field of medical robot control technology, and specifically to a remote operation control method and system for a gastrointestinal catheterization robot; the control method comprises: obtaining three-dimensional structural data of a patient's digestive tract using imaging equipment; establishing an individualized three-dimensional operation model of the patient through a remote operation system based on the three-dimensional structural data; planning a catheterization path and operation strategy according to the three-dimensional operation model; collecting motion state data of the gastrointestinal catheterization robot in real time through sensors of the remote operation system; dynamically matching the real-time collected motion state data with the patient's three-dimensional operation model; obtaining deviation information fed back by the sensor during the operation, generating an angle error signal, and making real-time corrections to the catheterization robot by adjusting the control strategy; the control system comprises: a target sensor, a remote operation component, a control module and a host computer; through the above-mentioned manner, 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.

Description

Technical Field

[0001] The present invention relates to the technical field of medical robot control, 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, particularly in endoscope-assisted surgery. In gastrointestinal catheterization surgeries in particular, robots, through precise motion control and high-precision sensor technology, offer doctors new operating methods, significantly improving surgical safety and efficiency. However, despite the promising application prospects of robotics in medicine, many technical challenges remain in practice.

[0003] Currently, existing robotic teleoperation systems for gastrointestinal cannulation still face several technical bottlenecks. First, due to network latency and transmission bandwidth limitations, control commands from the teleoperation system are often not fed back to the robotic platform in a timely manner, resulting in delayed robot movement, affecting operational precision and the operator's control experience. In particular, any delay in real-time image transmission and sensor feedback can adversely affect surgical safety. Second, the unique anatomy of the digestive tract and the surgical environment require extremely high robotic operational precision. However, existing systems often fail to effectively address the issue of robotic motion control within confined spaces, resulting in inaccurate cannulation or collisions with the digestive tract wall, increasing surgical risk. Furthermore, existing robotic systems often lack effective force feedback mechanisms, making it difficult for operators to perceive the contact force between the robot and the digestive tract wall, increasing operational difficulty and potentially leading to over-cannulation or tissue damage. Furthermore, traditional teleoperation systems typically utilize a single control method, ignoring the physical differences between the operator and the robot, resulting in limited control accuracy. In existing technologies, operators rely solely on traditional handles or consoles during surgery, lacking more intuitive and immersive feedback mechanisms. This makes it difficult for operators to determine the robot's position and status within the patient's body in real time, thus compromising surgical effectiveness and safety. In addition, traditional gastrointestinal catheterization operations usually have problems such as limited vision and operation being 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-mentioned 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 patient-specific three-dimensional operation model is established through a teleoperation control system; the three-dimensional operation model is represented 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 based on 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 ability 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 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 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 to generate an angle error signal. The robot is then corrected in real time by adjusting the control strategy. The update formula for the corrected trajectory is:

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

[0018] Where 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 robot's motion range and force based on key anatomical area information in the patient's 3D 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 insertion 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 changes in temperature T in the digestive tract operating environment;

[0029] The visual sensor is used to capture real-time images 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] The target sensor is used to collect motion state data during 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 motion path, posture, and force of the intubation 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 present invention provides 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 includes the complete anatomical features of the patient's digestive tract; based on the three-dimensional structural data, establishing a patient-specific three-dimensional operation model through a remote control system; the three-dimensional operation model is represented as follows:

[0036]

[0037] The catheterization path and operation strategy are planned based on 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 by the sensors of the remote operation system; wherein the motion state data includes pressure P, temperature T, and visual feedback V information; the motion state data collected in real time 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 tube placement 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 following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 any creative work.

[0043] Figure 1 It is a flowchart of the steps of the remote 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-teleoperation component, 703-control module, 704-host computer. DETAILED DESCRIPTION

[0047] Exemplary embodiments are described in detail herein, with examples illustrated in the accompanying drawings. When the following description refers to the drawings, identical numerals in different drawings represent identical or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with this 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. As used in this application and the appended claims, the singular forms "a," "an," "the," and "the" are intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0049] It should be understood that although the terms first, second, third, etc. may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as 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: Acquiring three-dimensional structural data of the patient's digestive tract using an imaging device; 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 the use of computed tomography (CT) or magnetic resonance imaging (MRI) equipment. These devices can provide detailed images of the patient's digestive tract, including shape, size, position information and the condition of the 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, a three-dimensional operation model of the patient is established through a teleoperation 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, where advanced image processing algorithms are used to extract structural information about the digestive tract. Common algorithms include edge detection, region growing, and 3D reconstruction techniques. These algorithms generate an accurate 3D model of the digestive tract. Assuming the generated 3D model consists 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, a personalized 3D operation model is further constructed. This model takes into account the patient's anatomical characteristics, such as the curvature of the digestive tract and areas of stenosis, to ensure the accuracy of robotic operation. Using this model, the robot can adjust its operation strategy based on the patient's specific anatomy, thereby improving surgical safety and success rates.

[0061] The creation of a 3D operative model involves complex geometric modeling and simulation techniques. First, the contours and surface features of the digestive tract are extracted from the imaging data. These features are then used to construct a 3D geometric model. This model incorporates not only the physical structure of the digestive tract but also 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 performing simulations before surgery.

[0063] S300: Planning the catheter placement path and operation strategy based on the three-dimensional operation model. The planning process includes accurate calculation of the advancement angle, rotation angle, and catheter placement 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 ability constraint.

[0066] In this embodiment, once the three-dimensional model is established, the teleoperation control system will input these anatomical images into the robot. 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 multiple disciplines, such as robotics, control theory, and optimization algorithms. First, define the target point P opt , which is the end point of the catheter, and then evaluate all possible paths P i safety and efficiency, and select the best path. 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 ability constraint.

[0070] Path planning takes into account the robot's motion limitations and the patient's anatomical structure. The complexity of certain areas may require the path to be avoided, or the path adjustment needs 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 uses sensors to collect real-time information about the robot's motion. These sensors include pressure, temperature, and visual sensors, providing data 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; the visual sensor provides image data V image , helping the operator to better understand the surgical environment. The real-time sampling rate can be expressed as:

[0074]

[0075] Where 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 collected motion state data is combined with the patient's three-dimensional operation model M 3D Perform dynamic matching, 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 robot's motion range and force based on key anatomical area information in the patient's 3D operation model;

[0081] When the sensor detects abnormally high-pressure areas and sensitive parts in the digestive tract, it reduces the propulsion speed and optimizes the movement path;

[0082] Furthermore, in the step of real-time monitoring of the advancement speed, rotation angle, and insertion 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 changes in temperature T in the digestive tract operating environment;

[0086] The visual sensor is used to capture real-time images 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 temperature abnormalities; 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 while minimizing operational risks.

[0088] Feedback signal processing involves fusing and interpreting data from multiple sensors. For example, visual feedback provides intuitive information about the robot's position, while pressure and temperature feedback provides information about the physical characteristics of the operating environment. This information is combined to form a comprehensive view of the surgical status, upon which decisions can be made. Feedback signal fusion can be achieved through weighted combinations, 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 weight depends on the specific surgical requirements.

[0091] The processing of feedback signals also needs to take into account the system's delays and uncertainties. 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 tube placement robot by adjusting the control strategy; the update formula for the correction trajectory is:

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

[0095] Where 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 remote 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, avoiding 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 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 filter:

[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 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 motion strategy R strategy (t), the optimization goal 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 constantly 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 propulsion 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 mechanisms. 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 the control authority according to the operator's skill level, and the authority level 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 motion state data during the catheterization 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 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;

[0131] The control module 703 is configured to receive real-time feedback signals, calculate operational deviations, and adjust the motion path, posture, and force of the intubation 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 sensors 701 are used to collect real-time data during the digestive tract cannulation process. These sensors accurately monitor the robot's motion and operating environment, providing necessary data support to the control module 703. This data includes information such as the robot's position, velocity, acceleration, and pressure in contact with surrounding tissues.

[0134] The selection and configuration of the target sensor 701 must take into account measurement accuracy and reliability. For example, the pressure sensor must be sensitive enough to detect small pressure changes, while the temperature sensor must be able to withstand the high temperature environment within 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 acquisition and transmission of the target sensor 701 need to be real-time and stable. For example, data transmission may be carried out via a wireless network (such as Wi-Fi) to reduce the interference and limitations of cables, and data acquisition may require high-frequency sampling to capture rapidly changing physiological states.

[0138] The teleoperation 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 status of the robot through feedback information to ensure the accuracy of the operation.

[0139] The design of the robotic 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 also being precise enough to avoid damaging surrounding tissues. Assume that the output force of the robotic 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 actuators requires a high degree of flexibility and responsiveness. For example, the actuators need to be able to quickly respond to the operator's instructions and adapt to sudden changes during the surgical process. For example, the motion of the actuators can be described as:

[0143]

[0144] Where 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 processing the collected data in real time, calculating the operational deviations, and accurately adjusting the robot's movements based on these deviations. This intelligent control process ensures that the system can maintain the efficient operation of the robot at all times.

[0146] The control module 703 needs to integrate advanced control algorithms and artificial intelligence technologies. These algorithms can analyze sensor data, identify patterns and trends in the operation process, and make decisions based on them. 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 serves as the interface between the operator and the teleoperation control system. It receives feedback signals from the control module and generates commands for controlling the robot based on these signals. By processing real-time feedback, the host computer ensures that the operator can make quick decisions and effectively intervene, ensuring the smooth progress of the cannulation 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 robot's status, sensor readings, and the progress of the operation. In addition, the host computer should provide intuitive control tools, such as a touch screen or 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 cannulation depth to meet specific surgical requirements.

[0154] The design of the personalized parameter adjustment interface needs to take into account the operator's convenience and flexibility. 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 reliable 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] Communication systems also need to have error detection and correction capabilities to ensure data integrity and accuracy. For example, communication systems may use redundant transmissions and checksums to ensure correct data transmission. A 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 surgical safety, the teleoperation control system also includes safety and emergency stop mechanisms that 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] The above disclosure is merely one or more preferred embodiments of the present invention, and certainly cannot be used to limit the scope of the present invention. A person skilled in the art can understand that all or part of the processes of the above embodiments and equivalent changes made in accordance with the claims of the present invention still fall within the scope of the invention.

Claims

1. A remote control system for a digestive tract catheterization robot, characterized in that: It includes a target sensor, a remote operation component, a control module and a host computer, wherein the target sensor, the remote operation component and the host computer are respectively connected to the control module; The target sensor is used to collect motion state data during the catheterization 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 motion path, posture, and force of the intubation 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; A remote control system for a digestive tract catheterization robot and a remote control method for a digestive tract catheterization robot include the following steps: 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; Based on the three-dimensional structure data, a patient-specific three-dimensional operation model is established through a teleoperation control system; the three-dimensional operation model is represented as: ； in, For each point in space, is the total number of points; The catheterization path and operation strategy are planned based on 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: ； in, is an optimization function that represents the risk and efficiency of the path, It is an anatomical constraint, is the robot's motion capability constraint; During the operation, the motion state data of the digestive tract catheterization robot is collected in real time by the sensors of the remote operation system; wherein the motion state data includes pressure ,temperature , visual feedback information; The real-time acquired motion state data is combined with the patient's three-dimensional operation model Perform dynamic matching and obtain feedback signals Optimizing the robot's motion path and posture ,The processing of the feedback signal includes the fusion of multiple motion state data; Obtain deviation information from sensor feedback during operation , generate an angle error signal, and make real-time corrections to the tube placement robot by adjusting the control strategy; the update formula for the corrected trajectory is: ； in, is the correction amount.

2. The remote control system for the digestive tract catheterization robot according to claim 1, characterized in that: In the steps of obtaining the three-dimensional structural 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 system for the digestive tract catheterization robot according to claim 1, characterized in that: In combining the real-time acquired motion state data with the patient's three-dimensional operation model Perform dynamic matching and obtain feedback signals Optimizing the robot's motion path and posture In the steps: The advancement speed, rotation angle and insertion depth of the cannulation robot are monitored in real time through sensor feedback information; Dynamically adjust the robot's motion range and force based on key anatomical area information in the patient's 3D 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 system 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 insertion 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 changes in temperature T in the digestive tract operating environment; The visual sensor is used to capture real-time images V inside the digestive tract.

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