Interventional robot slave end delivery feedback method and master end visualization method and device

Abstract

The invention relates to the technical field of interventional surgical robots, in particular to a slave end delivery feedback method and a master end visualization method and device for an interventional robot, and the slave end method comprises the steps: judging whether a detection device is triggered by a mark point or not; wherein the plurality of mark points are arranged on the slender medical instrument and are used for being identified by a detection device in the delivery process of the slender medical instrument; if not, calculating an instrument delivery distance based on the collected instrument delivery parameters; if so, updating an instrument delivery distance based on the identified mark distance information of the mark point; the instrument delivery distance is sent to a primary end. The movement calculation precision of the slender medical instrument in the external catheter can be improved, and the visual display accuracy is improved.

Description

Technical Field

[0001] The present application relates to the technical field of interventional surgical robots, and in particular to a method and device for delivering feedback from a slave end of an interventional robot and a visualization method and device for a master end. Background Art

[0002] The existing interventional robot guidewire advance and retreat distance visualization feedback solution collects data from the guidewire roller encoder, calculates the guidewire delivery distance in real time according to the formula, and then calculates the position of the guidewire relative to the external catheter to display the corresponding distance information and percentage. Since there are errors in the calculation of the guidewire delivery distance, there are also errors in the calculated distance information and percentage calculation, and it is impossible to clearly and accurately know the position of the guidewire relative to the external catheter. In addition, the existing visualization feedback solution can only realize the visualization feedback of the guidewire, and cannot provide visualization feedback on the advance and retreat distance of the internal catheter and the quick delivery instrument in the external catheter, which makes it difficult to realize automatic control of the internal catheter and the quick delivery instrument during operation.

[0003] Therefore, the existing visual feedback method in the process of interventional robot delivery of instruments has insufficient calculation accuracy and is not convenient for realizing automated control of the delivery process of multiple instruments, which needs to be solved urgently. Summary of the invention

[0004] The main purpose of this application is to provide an interventional robot slave-end delivery feedback method and a master-end visualization method and device, aiming to solve the technical problems that the existing visualization feedback method in the process of interventional robot delivery of instruments has insufficient calculation accuracy and is not convenient for realizing automated control of the delivery process of multiple instruments.

[0005] In order to achieve the above-mentioned invention object, the present application proposes a distance feedback method of an interventional robot slave end, comprising:

[0006] Determining whether the detection device is triggered by the marking point; wherein a plurality of the marking points are arranged on the elongated medical device for being identified by the detection device during the delivery of the elongated medical device;

[0007] If not triggered, the device delivery distance is calculated based on the collected device delivery parameters;

[0008] If triggered, updating the instrument delivery distance based on the identified marking distance information of the marking point;

[0009] The instrument delivery distance is sent to the master end.

[0010] Furthermore, before the step of determining whether the detection device is triggered by the marking point, the following steps are included:

[0011] Based on the initialization instruction, the instrument delivery device is controlled to move the designated marking point on the elongated medical device to the detection device, and the instrument delivery parameters are cleared.

[0012] Furthermore, if not triggered, the step of calculating the instrument delivery distance based on the collected instrument delivery parameters includes:

[0013] collecting instrument delivery parameters in real time, wherein the instrument delivery parameters include encoder values;

[0014] Based on the instrument delivery parameters, the instrument delivery distance is calculated by a preset formula; wherein the preset formula is:

[0015] The instrument delivery distance is updated to the calculated instrument delivery distance.

[0016] Furthermore, if the number of the marking points includes two, the step of determining whether the detection device is triggered by the marking point includes:

[0017] If the current delivery direction is the entry direction, the marking feature of the proximal marking point is loaded;

[0018] Based on the marking feature of the proximal marking point, it is determined whether the detection device is triggered by the proximal marking point.

[0019] Furthermore, if the number of the marking points includes two, the step of determining whether the detection device is triggered by the marking point further includes:

[0020] If the current delivery direction is the exit direction, the marking feature of the remote marking point is loaded;

[0021] Based on the marking feature of the remote marking point, it is determined whether the detection device is triggered by the remote marking point.

[0022] Furthermore, if triggered, the step of updating the device delivery distance based on the identified marking distance information of the marking point includes:

[0023] If triggered, identify the distance data between the current marking point and the instrument head end;

[0024] The instrument delivery distance is updated to the distance data.

[0025] The present application also proposes a method for visualizing the main end of an interventional robot, which is implemented based on any of the above methods, including:

[0026] Get the device delivery distance sent from the end;

[0027] calculating the current position information of the elongated medical device based on the device delivery distance;

[0028] Relevant visualization files are retrieved based on the location information for visualization display.

[0029] Furthermore, the distance between the proximal marking point of the slender medical device and the head end of the device is set based on the length of the external catheter, and the step of retrieving the relevant visualization file for visualization based on the position information includes:

[0030] Receiving external catheter length information input by a user;

[0031] Calculating the relative position of the elongated medical device in the external catheter based on the position information and the external catheter length information;

[0032] The visualization files corresponding to the external catheter and the current instrument are retrieved, and real-time visualization is performed based on the relative position; wherein the visualization includes a first prompt information and a second prompt information, and the first prompt information is generated when the proximal marking point is triggered by the sensor; and the second prompt information is generated when the distal marking point is triggered by the sensor.

[0033] The third aspect of the present application further provides an interventional robot slave end distance feedback device, comprising:

[0034] A determination module, used to determine whether the detection device is triggered by the marking point; wherein a plurality of the marking points are arranged on the elongated medical device, and are used to be identified by the detection device during the delivery of the elongated medical device;

[0035] A first calculation module, for calculating the instrument delivery distance based on the collected instrument delivery parameters if not triggered;

[0036] an updating module, for updating the instrument delivery distance based on the identified marking distance information of the marking point if triggered;

[0037] The sending module is used to send the device delivery distance to the main end.

[0038] The fourth aspect of the present application further provides an interventional robot master terminal visualization display device, which is used to execute the above-mentioned interventional robot master terminal visualization method, comprising:

[0039] A receiving module, used for acquiring the device delivery distance sent from the terminal;

[0040] A second calculation module, configured to calculate the position information of the current elongated medical device based on the device delivery distance;

[0041] The display module is used to retrieve relevant visualization files for visualization based on the location information.

[0042] A fifth aspect of the present application provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of any one of the above methods when executing the computer program.

[0043] A sixth aspect of the present application proposes a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the steps of any one of the above methods when executed by a processor.

[0044] The present application cooperates with the detection device by setting the marking points on the slender medical device. During the delivery process of the slender medical device, the device delivery position calculated by the existing encoder is calibrated in real time by detecting the position of the marking points. By calibrating the device delivery position, the delivery position of the slender medical device (guidewire, catheter) in the blood vessel can be accurately corrected and displayed, and at the same time, the accuracy of the calculation of the position information of the slender medical device (guidewire, catheter or quick delivery device) relative to the external catheter can be improved, helping the operator to accurately judge the position of the device relative to the external catheter. At the same time, through automatic display, it provides a technical basis for realizing the automated operation of various slender medical devices in blood vessels and external catheters. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 A schematic diagram of a flow chart of a distance feedback method from an interventional robot according to an embodiment of the present application;

[0046] Figure 2 A schematic diagram of the flow of a visualization method for an interventional robot master terminal according to an embodiment of the present application;

[0047] Figure 3 This is a schematic block diagram of the structure of a distance feedback device of a slave end of an interventional robot according to an embodiment of the present application;

[0048] Figure 4 This is a schematic block diagram of the structure of a visualization device for an interventional robot master end according to an embodiment of the present application;

[0049] Figure 5 A schematic block diagram of the structure of a computer device according to an embodiment of the present application.

[0050] Figure 6 This is a schematic block diagram of the structure of an instrument delivery device of an interventional robot according to an embodiment of the present application.

[0051] Figure 7 This is a schematic block diagram of the structure of an instrument delivery device of an interventional robot according to an embodiment of the present application.

[0052] Among them, 1. external catheter; 3. T valve; 4. detection device; 5. slender medical device; 6. guide needle; 7. device delivery roller; 10. distal marking point; 11. proximal marking point; 12. receiving mechanism; 13. delivery mechanism;

[0053] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0054] 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.

[0055] It will be understood by those skilled in the art that, unless expressly stated, the singular forms "a", "an", "above", and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present invention refers to the presence of features, integers, steps, operations, elements, modules, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, modules, components, and / or groups thereof. It should be understood that when we refer to an element as being "connected" or "coupled" to another element, it may be directly connected or coupled to the other element, or there may be an intermediate element. In addition, the "connection" or "coupling" used herein may include wireless connection or wireless coupling. The term "and / or" used herein includes all or any module and all combinations of one or more associated listed items.

[0056] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as generally understood by those skilled in the art in the art to which the present invention belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless specifically defined as herein.

[0057] Reference Figure 1 The embodiment of the present invention provides an interventional robot slave end distance feedback method, comprising steps S1-S4, specifically:

[0058] S1, determining whether the detection device 4 is triggered by a marking point; wherein a plurality of the marking points are arranged on the elongated medical device 5, and the marking points are spaced at a preset distance, so as to be identified by the detection device 4 during the delivery of the elongated medical device 5;

[0059] S2. If not triggered, calculating the device delivery distance based on the collected device delivery parameters;

[0060] S3. If triggered, updating the device delivery distance based on the identified marking distance information of the marking point;

[0061] S4. Send the device delivery distance to the main end at every preset time interval.

[0062] Reference Figure 6 In this embodiment, the present application is mainly applied to an interventional robot system, which includes a master end and a slave end, and an instrument delivery device, wherein the instrument delivery device includes a receiving mechanism 12 and a delivery mechanism 13, wherein the receiving mechanism 12 includes a T-valve 3 and an external catheter 1 connected to one side of the T-valve 3, and the slave end is used to control the delivery mechanism 13 to clamp and deliver the slender medical device 5, and the delivery mechanism 13 is used to deliver the slender medical device 5 to the T-valve 3 through the instrument delivery roller 7, so that the slender medical device 5 passes through the T-valve 3 and enters the interior of the external catheter 1 connected to one side of the T-valve 3, and moves inside the external catheter 1. The slave end recognizes the marking point of the slender medical device 5 through the detection device 4, and assists the slave end to monitor the instrument delivery distance of the slender medical device 5 in real time during the movement, so as to achieve the purpose of calibrating the calculated instrument delivery distance. The master end will calculate the relative distance based on the instrument delivery distance transmitted by the slave end and the actual length of the external catheter 1, and display it visually. This allows the operator to know the position of the currently delivered elongated medical device 5 in the external catheter 1 and to accurately grasp the progress of the operation.

[0063] In cases where there is no need to judge the relative distance, the delivery mechanism 13 delivers the slender medical device 5 into the T-valve 3 through the device delivery roller 7 and reaches the target lesion in the target blood vessel. By setting marking points on the surface of the slender medical device 5 to calibrate the distance that the slender medical device 5 has moved, the actual distance that the slender medical device 5 currently moves in the target blood vessel can be accurately detected to judge whether the slender medical device 5 has accurately reached the lesion in the target blood vessel.

[0064] Among them, the detection device 4 is arranged on the moving path of the slender medical device 5, specifically, it can be arranged inside or outside the T-valve 3 or at the entrance corresponding to the T-valve 3, for realizing the detection of the marking points on the slender medical device 5. The detection device 4 can use photoelectric sensors, image sensors, etc. to identify the marking points. The marking points can be made of materials or patterns with specific optical characteristics, such as reflective materials, marks of specific colors or QR codes. In order to distinguish different positions, the marking points at different positions need to be different. Taking the image sensor as an example, the marking of different positions can be realized by matching marking points of different colors and patterns. The greater the difference between the selected color and pattern and the device itself, the greater the difference between different marking points, and the higher the sensor recognition accuracy.

[0065] When light is irradiated onto the marking point, the reflected or transmitted light or pattern will be captured by the detection device 4. On the slender medical device 5, marking points are set according to a preset interval distance. The number of the marking points can include two or more. When the number is two, they are the distal marking point 10 and the proximal marking point 11. The distal marking point 10 is set at the head end of the slender medical device 5, wherein the distal marking point 10 can be located at any position of the head end of the slender medical device 5, and the setting of the proximal marking point 11 should meet the requirement that when the proximal marking point 11 is detected by the detection device 4, the head end of the slender medical device 5 should be kept within a preset distance from the head end of the external catheter 1 or be at the same position as the port of the head end of the external catheter 1. That is, when the distal marking point 10 coincides with the head end position of the external catheter 1 or is separated by a preset distance, the detection device 4 is triggered by the proximal marking point 11 to prevent the slender medical device 5 from being excessively guided out of the external catheter 1 during manual or automated delivery. The distal marking point 10 is used to determine whether the slender medical device 5 is completely withdrawn from the external catheter 1 during the withdrawal process of the slender medical device 5 .

[0066] Furthermore, when the number of the marking points includes more than two, that is, multiple marking points are set between the distal marking point 10 and the proximal marking point 11, and a fixed distance is evenly set between every two adjacent marking points. In this case, no special identification mark is required, and the moving distance corresponding to the currently identified marking point can be determined by the number of identified marking points. For example: a marking point is set every 10 cm, and the detection device 4 detects 5 marking points, and it can be inferred that the device has moved 50 cm.

[0067] It can also be a non-uniform fixed distance, for example, the first marking point and the second marking point are spaced 2 cm apart, and the second marking point and the third marking point are spaced 5 cm apart. For the non-uniform marking points, it is necessary to identify the type or specification of the spacing setting of the slender medical device 5 before use, so that when the corresponding number of marking points are identified, the current moving distance can be accurately obtained. For example, manually input or confirmed by the system that the current specification of the slender medical device 5 is "2-8-10", that is, the distance between the first marking point and the second marking point is 2 cm, and the spacing distance between the second marking point and the third marking point is 8 cm... and so on. In this way, during the recognition process, the system can accurately determine the moving distance represented by the current marking point by the number of recognized marking points.

[0068] In addition, if the arrangement is not uniform, the distance information associated with the features of the corresponding marking points can also be determined by identifying the features of the marking points. That is, the distance information associated with the marking points can be determined by identifying the features of the marking points. For example, marking points of different shapes represent different distances, a circular marking point represents 5 cm, a triangular marking point represents 8 cm, and so on.

[0069] Specifically, as shown in step S1, the slave end in the present application first always maintains the signal monitoring state of the detection device 4. The detection device 4 collects data at a certain frequency (for example, 10 times per second) to ensure that the passing of the marking point can be captured in time. According to the pre-set marking point features and detection algorithm, it is determined whether the data collected by the detection device 4 meets the conditions for marking point triggering. If the data matches the marking point features (such as detecting an area of ​​a specific color or shape, etc.), the detection device 4 is determined to be triggered; otherwise, it is considered not to be triggered.

[0070] As described in step S2, when the instrument delivery roller 7 rotates to deliver the slender medical device 5, the encoder on the instrument delivery roller 7 will rotate synchronously with the instrument delivery roller 7 and output a series of pulse signals. The slave end can determine the rotation angle and number of turns of the roller by calculating the change in the number of pulses, and calculate the instrument delivery distance of the slender medical device 5; the slave end collects encoder data in real time through the interface connected to the instrument delivery encoder, for example, reads the communication data every 10ms to obtain the current value of the encoder. The instrument delivery distance is calculated according to the preset formula and encoder parameters. If an incremental encoder calculation scheme is used, it is necessary to accumulate the pulse count and calculate it according to the relationship between the roller diameter and the number of pulses and the number of turns.

[0071] As described in step S3, since the distance between each marking point and the instrument head end is pre-fixed, when the marking point triggers the detection device 4, the system directly updates the instrument delivery distance according to the pre-stored marking distance. The marking distance is the distance between the marking point and the instrument head end. The distance between each marking point and the instrument head end is pre-stored in the memory of the slave end, for example, these distance data are stored in a data table, which contains the identification information of the marking point (such as number, color, pattern, etc.) and the corresponding distance value. For example, the distance between the marking point A (circular red mark) and the instrument head end is L1, the distance between the marking point B (triangular blue mark) and the instrument head end is L2, and so on.

[0072] As described in step S4, before sending the device delivery distance data, the data needs to be packaged to meet the requirements of the communication protocol. The data packaging format can be determined according to the specific communication method (such as serial communication, network communication, etc.) and the protocol agreed upon between the master end and the slave end. It generally includes parts such as a data header, a data body, and a check bit. The data header part can contain some identification information, such as the type of data packet (indicating that this is device delivery distance data), the sequence number of the data packet (used for data sorting and confirmation), the device number of the slave end, and the type of the currently delivered elongated medical device 5, such as a guide wire, a catheter, or a fast delivery device, etc., so that the master end can obtain the matching visual data after receiving the data and perform calculations.

[0073] Through steps S1-S4, the present application can cooperate with the detection device 4 by setting marking points on the slender medical device 5. During the delivery process of the slender medical device 5, the position of the marking points is detected to perform real-time calibration on the device delivery position calculated by the existing encoder. By calibrating the device delivery position, the delivery position of the slender medical device 5 (guide wire, catheter) in the blood vessel can be accurately corrected and displayed. At the same time, the accuracy of the calculation of the position information of the slender medical device 5 (guide wire, catheter, quick delivery device) relative to the external catheter 1 can be improved, helping the operator to accurately judge the position of the device relative to the external catheter 1, and facilitating the main end to accurately and automatically display the delivery process, providing a technical basis for realizing the precise delivery of various types of slender medical devices 5 in the target blood vessel and the automated operation in the external catheter 1.

[0074] In one embodiment, before the step of determining whether the detection device 4 is triggered by the marking point, the following steps are included:

[0075] S10. Based on the initialization instruction, the device delivery device is controlled to move the designated marking point on the elongated medical device 5 to the detection device 4, and the device delivery parameter is cleared.

[0076] Reference Figure 7In this embodiment, when the whole system is powered on, the program starts to start, and the slave end will initialize the instrument. The operator selects the corresponding slender medical device 5 (the slender medical device 5 can be a guide wire, a catheter or a quick delivery device), wherein, if the slender medical device 5 is a guide wire, the front part of the guide wire is also sleeved with a guide needle 6, which is used to support the guide wire to penetrate the T valve 3, so as to facilitate the automatic advance and retreat. If the slender medical device 5 is a catheter or a quick delivery device, it is not necessary to sleeve the guide needle 6. The slave end will perform the corresponding initialization operation according to the selected instrument type. When the slender medical device 5 is installed on the delivery mechanism 13, the slave end will move the designated mark point of the slender medical device 5 to the detection device 4 through the instrument delivery device (such as the instrument delivery roller 7), wherein the instrument delivery roller 7 can be set at different positions according to different types of slender medical devices 5, and other auxiliary delivery structures contained in the delivery mechanism 13 can also be adjusted in connection position according to actual delivery and operation requirements. In the initial stage, this designated mark point is usually the distal mark point 10 of the instrument, which is used to determine the initial position of the instrument. When the designated marking point moves to the detection device 4, the slave end will clear the data of the instrument delivery encoder. This step ensures that the calculation of the instrument delivery distance starts from a known zero point, which improves the accuracy of the calculation. After the initialization is completed, the slave end will send a confirmation signal to the master end, indicating that the instrument is ready for the delivery operation. The master end will remind the operator to start the next step based on the information displayed that the initialization is completed. Through the above steps, it is ensured that the initial position of the instrument has been accurately determined before the delivery operation is officially started, thereby providing a reliable basis for the subsequent delivery distance calculation. This not only improves the accuracy of the system, but also enhances the safety and reliability of the operation.

[0077] In one embodiment, the step of calculating the instrument delivery distance based on the collected instrument delivery parameters if not triggered comprises:

[0078] S20, collecting device delivery parameters in real time, wherein the device delivery parameters include encoder values;

[0079] S21. Based on the device delivery parameters, the device delivery distance is calculated by a preset formula; wherein the preset formula is:

[0080] S22. Update the device delivery distance to the calculated device delivery distance.

[0081] In this embodiment, the slave end collects encoder data in real time through an encoder connected to the instrument delivery roller 7. The encoder data includes an encoder value, that is, the number of pulses output by the encoder at a certain moment. Based on the collected encoder data, the instrument delivery distance is calculated by a preset formula. The mechanical transmission ratio refers to the actual distance the instrument advances for each rotation of the roller. This value is usually a known constant and can be set when the system is initialized. The total number of pulses generated by one rotation of the encoder is also a known constant, which is usually determined by the specifications of the encoder. Substituting the above three values ​​into the preset formula, the instrument delivery distance can be calculated. Assume that the mechanical transmission ratio is 10 mm / turn (that is, the instrument advances 10 mm for each rotation of the roller). Assume that the total number of pulses for one rotation of the encoder is 1000 pulses. The instrument delivery distance is calculated using the preset formula: Instrument delivery distance = 10001000×10 = 10 mm, and the slave end updates the calculated instrument delivery distance to the internal data storage. Every preset time (for example, once per second), the slave end sends the updated instrument delivery distance to the master end so that the master end can perform visual display and further processing.

[0082] Through the above steps, the slave end can accurately calculate the delivery distance of the device and send the data to the master end in time, helping the operator to understand the position of the device in the external catheter 1 in real time and correct the delivery distance of the device in the target blood vessel when delivering the device alone, so that the device can accurately reach the location of the target lesion, improving the safety and efficiency of the operation.

[0083] In one embodiment, the number of the marking points includes two, and the step of determining whether the detection device 4 is triggered by the marking points includes:

[0084] S30, if the current delivery direction is the entry direction, then loading the marking feature of the proximal marking point 11;

[0085] S31 . Based on the marking feature of the proximal marking point 11 , determine whether the detection device 4 is triggered by the proximal marking point 11 .

[0086] In this embodiment, when the number is two, they are the distal marking point 10 and the proximal marking point 11, wherein the distal marking point 10 can be located at any position of the head end of the slender medical device 5, and the setting of the proximal marking point 11 should satisfy that when the proximal marking point 11 is detected by the detection device 4, the distance between the head end of the slender medical device 5 and the head end of the external catheter 1 should be kept within a preset distance or at the same position as the port of the head end of the external catheter 1. That is, when the head end of the slender medical device 5 coincides with the head end of the external catheter 1 or is separated by a preset distance, the detection device 4 is triggered by the proximal marking point 11. Setting the proximal marking point 11 can prevent the slender medical device 5 from being excessively pushed into the external catheter 1 during manual or automated delivery, accurately identify the operation node of entering the operation, and generate a corresponding operation prompt. The distal marking point 10 is used to determine whether the slender medical device 5 is completely withdrawn from the external catheter 1 during the withdrawal process of the slender medical device 5.

[0087] Specifically, when the delivery direction of the slender medical device 5 is the entry direction, that is, the direction of entering the T-valve 3, the slave end will load the marking feature of the proximal marking point 11. The marking feature of the proximal marking point 11 can be a specific color, pattern or other identifiable feature. These feature information are pre-stored in the memory of the slave end. The slave end will read these feature information and load it into the detection algorithm of the detection device 4. The slave end will determine whether the detection device 4 is triggered by the proximal marking point 11 based on the marking feature of the proximal marking point 11. Specifically, the detection device 4 collects data at a certain frequency (for example, 10 times per second) to ensure that the passing of the marking point can be captured in time. The slave end matches the collected data with the marking feature of the proximal marking point 11. If the data matches the feature of the proximal marking point 11 (for example, an area of ​​a specific color or pattern is detected), it is determined that the detection device 4 is triggered by the proximal marking point 11.

[0088] In one embodiment, if the number of the marking points includes two, the step of determining whether the detection device 4 is triggered by the marking points further includes:

[0089] S40, if the current delivery direction is the exit direction, then load the marking feature of the remote marking point 10;

[0090] S41 . Based on the marking feature of the remote marking point 10 , determine whether the detection device 4 is triggered by the remote marking point 10 .

[0091] In this embodiment, when the number is two, they are the distal marking point 10 and the proximal marking point 11. The distal marking point 10 is arranged at the head end of the slender medical device 5. The purpose of the distal marking point 10 is that when the distal marking point 10 exits the external catheter 1 and is detected by the detection device 4 installed in the T-valve 3 or at the entrance of the T-valve 3, the distal marking point 10 is used to determine whether the slender medical device 5 has completely exited the external catheter 1 during the exit process of the slender medical device 5, accurately identify the operation node of the exit operation, and generate corresponding operation prompts.

[0092] Specifically, when the delivery direction of the slender medical device 5 is the exit direction, that is, the direction of exiting the T-valve 3, the slave end will load the marking feature of the distal marking point 10. The marking feature of the distal marking point 10 can be a specific color, pattern or other identifiable feature. These feature information are pre-stored in the memory of the slave end. The slave end will read these feature information and load it into the detection algorithm of the detection device 4. The slave end will determine whether the detection device 4 is triggered by the distal marking point 10 based on the marking feature of the distal marking point 10. The detection device 4 collects data at a certain frequency (for example, 10 times per second) to ensure that the passing of the marking point can be captured in time. The slave end matches the collected data with the marking feature of the distal marking point 10. If the data matches the feature of the distal marking point 10 (for example, an area of ​​a specific color or pattern is detected), it is determined that the detection device 4 is triggered by the distal marking point 10. Through the above steps, the slave end can accurately determine whether the detection device 4 is triggered by the distal marking point 10, thereby determining whether it is necessary to timely update the instrument delivery distance, helping the operator to understand the position and delivery status of the instrument in the external catheter 1 in real time, and improving the safety and efficiency of the operation.

[0093] In one embodiment, the step of updating the device delivery distance based on the identified marking distance information of the marking point if triggered comprises:

[0094] S50, if triggered, identifying the distance data between the current marking point and the instrument head end;

[0095] S51. Update the device delivery distance to the distance data.

[0096] In this embodiment, when the detection device 4 is triggered, the slave end needs to identify the distance data between the currently triggered marking point and the instrument head end. Based on the characteristic information of the currently triggered marking point, such as color, pattern, etc., the slave end searches for the distance data corresponding to the characteristics of the marking point in the memory. These distance data are pre-stored and represent the distance between the marking point and the instrument head end. The slave end updates the instrument delivery distance based on the identified distance data. The slave end updates the new delivery distance to the internal data storage, and subsequently sends the updated delivery distance to the master end so that the master end can perform visual display and further processing.

[0097] Specifically, when the detection device 4 detects that the proximal marker 11 is triggered, the slave end needs to identify the distance data between the currently triggered proximal marker 11 and the instrument head end. The slave end reads the characteristic information of the currently triggered proximal marker 11, such as a red circular mark. The slave end searches the memory for distance data corresponding to the characteristics of the proximal marker 11, which are pre-stored and represent the distance between the proximal marker 11 and the instrument head end. The slave end records the distance data between the current proximal marker 11 and the instrument head end.

[0098] The slave updates the device delivery distance based on the identified distance data. The slave compares the currently identified distance data with the previously calculated delivery distance to calculate the new delivery distance. The slave updates the new delivery distance to the internal data storage and sends the updated delivery distance to the master for visualization and further processing by the master.

[0099] Reference Figure 2 In one embodiment, the present application further proposes a method for visualizing an interventional robot master end, which is implemented based on the method described in any of the above embodiments, including:

[0100] S7, obtaining the device delivery distance sent from the terminal;

[0101] S8, calculating the current position information of the elongated medical device 5 based on the device delivery distance;

[0102] S9. Retrieving relevant visualization files based on the location information for visualization display.

[0103] In this embodiment, the master end receives the device delivery distance sent by the slave end. The delivery distance includes the delivery of only the slender medical device 5 and the delivery of the slender medical device 5 in the external catheter 1. When only the slender medical device 5 is delivered, the specific moving position of the current slender medical device 5 can be calculated based on the device delivery distance calculated by the slave end, and a visual display is performed relative to the moving position. For example, if the current slender medical device 5 moves 10 mm as a whole, the 10 mm moving process of the slender medical device 5 is dynamically displayed in real time through the visual file.

[0104] In one embodiment, the distance between the proximal marking point 11 of the elongated medical device 5 and the head end of the device is set based on the length of the external catheter 1, and the step of retrieving the relevant visualization file for visualization based on the position information includes:

[0105] S90, receiving the length information of the external catheter 1 input by the user;

[0106] S91, calculating the relative position of the elongated medical device 5 in the external catheter 1 based on the position information and the length information of the external catheter 1;

[0107] S92. Retrieve the visualization file corresponding to the external catheter 1 and the current instrument, and perform real-time visualization based on the relative position; wherein the visualization includes a first prompt message and a second prompt message, and when the proximal marking point 11 is triggered by the sensor, the first prompt message is generated; when the distal marking point 10 is triggered by the sensor, the second prompt message is generated.

[0108] In this embodiment, when delivering a slender medical device 5 in an external catheter 1, the user inputs the actual length of the external catheter 1, for example, 155 cm, through the slave interface. The master receives the length information of the external catheter 1 sent by the slave. At the same time, the master receives the device delivery distance data sent by the slave, and these data are transmitted from the slave to the master via a communication protocol (such as a CAN bus).

[0109] The master end calculates the position information of the current device in the external catheter 1 based on the received external catheter 1 length information and the device delivery distance. The master end reads the external catheter 1 length information input by the user, such as 155 cm, and reads the device delivery distance data sent by the slave end, such as 125 cm. The master end calculates the position percentage of the device in the external catheter 1 based on the external catheter 1 length and the device delivery distance. The calculation formula is the position percentage: For example, the calculated position percentage is: position percentage = (150 ÷ ​​155) × 100% ≈ 96.77%; the master end records the calculated position percentage of 96.77%. Based on the calculated position information, the master end retrieves the relevant visualization file for visualization. Based on the calculated position percentage of 96.77%, the master end retrieves the corresponding visualization file, generates a visualization interface containing the device position information, and displays the specific position of the slender medical device 5 in the external catheter 1. For example, a graphic of an external catheter 1 is displayed, and the current position of the device is marked on the graphic. The master end updates the display interface to ensure that the operator can understand the position changes of the slender medical device 5 in the external catheter 1 in real time.

[0110] The distance between the proximal mark point 11 and the head end of the instrument is set based on the length of the external catheter 1. When the proximal mark point 11 is triggered by the sensor, it means that the head end of the slender medical instrument 5 has reached the head of the external catheter 1. If it continues to move, it will exceed the catheter head, which brings certain operational risks. When the master end receives the trigger signal of the proximal mark point 11 sent by the slave end during the entry of the slender medical instrument 5, it will also generate a text and / or voice prompt about the current slender medical instrument 5 about to exit the head end of the external catheter 1; for example, "the instrument is about to exit the head end of the external catheter 1" is displayed on the interface of the dynamic image. When the master end receives the trigger signal of the distal mark point 10 sent by the slave end during the exit of the slender medical instrument 5, it will also generate a prompt about exiting the external catheter 1; when the distal mark point 10 is triggered, it proves that the slender medical instrument 5 has been completely exited in the current exit direction, and generates a text and / or voice prompt such as "the instrument has exited the external catheter 1". This helps the operator to obtain the operating status and corresponding operating nodes of the slender medical device 5 in a timely manner, avoid over-advancing or withdrawing the device, and reduce the risk of misoperation.

[0111] Reference Figure 3 , is a block diagram of the distance feedback structure of the interventional robot from the end in one embodiment of the present application, the device includes:

[0112] A determination module 100, for determining whether the detection device is triggered by a marking point; wherein a plurality of the marking points are arranged on the elongated medical device, and the marking points are spaced at a preset distance, for being identified by the detection device during the delivery of the elongated medical device;

[0113] A first calculation module 200, for calculating the instrument delivery distance based on the collected instrument delivery parameters if not triggered;

[0114] An updating module 300, for updating the instrument delivery distance based on the identified marking distance information of the marking point if triggered;

[0115] The sending module 400 is used to send the device delivery distance to the main end at every preset time interval.

[0116] In one embodiment, it further includes: an initialization module 500, which is used to control the instrument delivery device to move the designated marking point on the elongated medical device to the detection device based on the initialization instruction, and clear the instrument delivery parameters.

[0117] In one embodiment, the first calculation module 200 includes:

[0118] A data acquisition unit 210, for acquiring instrument delivery parameters in real time, wherein the instrument delivery parameters include encoder values;

[0119] The distance calculation unit 220 is used to calculate the device delivery distance based on the device delivery parameters by a preset formula; wherein the preset formula is

[0120] In one embodiment, the determination module 100 includes:

[0121] The feature loading unit 110 is used to load the marking feature of the proximal marking point if the current delivery direction is the entry direction;

[0122] The trigger judgment unit 120 is used to judge whether the detection device is triggered by the proximal marking point based on the marking feature of the proximal marking point.

[0123] In one embodiment, the determination module 100 further includes:

[0124] A remote feature loading unit 130, configured to load a marking feature of a remote marking point if the current delivery direction is an exit direction;

[0125] The remote trigger judgment unit 140 is used to judge whether the detection device is triggered by the remote marking point based on the marking feature of the remote marking point.

[0126] In one embodiment, the update module 300 includes:

[0127] The distance identification unit 310 is used to identify the distance data between the current marking point and the instrument head end when triggered;

[0128] The distance updating unit 320 is configured to update the device delivery distance based on the distance data.

[0129] Reference Figure 4 This embodiment also provides a visual display device for an interventional robot master end, including:

[0130] A receiving module 700 is used to obtain the device delivery distance sent from the terminal;

[0131] A second calculation module 800, for calculating the position information of the current elongated medical device based on the device delivery distance;

[0132] The display module 900 is used to retrieve relevant visualization files for visualization display based on the location information.

[0133] In one embodiment, the display module 900 further includes:

[0134] A length receiving unit, used for receiving the length information of the external catheter input by the user;

[0135] A relative position calculation unit, used for calculating the relative position of the elongated medical device in the external catheter based on the position information and the external catheter length information;

[0136] A retrieving unit is used to retrieve the visualization files corresponding to the external catheter and the current instrument, and perform real-time visualization based on the relative position; wherein the visualization includes a first prompt information and a second prompt information, and when the proximal marking point is triggered by the sensor, the first prompt information is generated; when the distal marking point is triggered by the sensor, the second prompt information is generated.

[0137] Reference Figure 5 In an embodiment of the present application, a computer device is also provided. The computer device may be a server, and its internal structure may be as follows: Figure 5 As shown. The computer device includes a processor, a memory, a network interface and a database connected through a system bus. Among them, the processor designed by the computer 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, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store the usage data and the like in the process of the interventional robot slave distance feedback method. The network interface of the computer device is used to communicate with an external terminal through a network connection. Further, the above-mentioned computer device can also be provided with an input device and a display screen, etc. When the above-mentioned computer program is executed by the processor to implement the interventional robot slave distance feedback method, it includes the following steps: determining whether the detection device is triggered by a marking point; wherein the marking point includes a plurality of marking points, which are set on the slender medical device, and the marking points are spaced by a preset distance, and are used to be recognized by the detection device during the delivery of the slender medical device; if not triggered, the instrument delivery distance is calculated based on the collected instrument delivery parameters; if triggered, the instrument delivery distance is updated based on the marking distance of the marking point; and the instrument delivery distance is sent to the master end at every preset time interval. When the above-mentioned computer program is executed by the processor to implement the interventional robot slave end distance feedback method, it includes the following steps: obtaining the instrument delivery distance sent by the slave end; calculating the position information of the current slender medical device based on the instrument delivery distance; and retrieving relevant visualization files based on the position information for visualization display.

[0138] Those skilled in the art will understand that Figure 5 The structure shown in is merely a block diagram of a portion of the structure related to the present application solution and does not constitute a limitation on the computer device to which the present application solution is applied.

[0139] One embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, a method for feedback of distance from the end of an interventional robot is implemented, including the following steps: determining whether a detection device is triggered by a marking point; wherein the marking point includes a plurality of marking points, which are arranged on a slender medical device, and the marking points are spaced at a preset distance, for being identified by the detection device during the delivery of the slender medical device; if not triggered, the instrument delivery distance is calculated based on the collected instrument delivery parameters; if triggered, the instrument delivery distance is updated based on the marking distance of the marking point; and the instrument delivery distance is sent to the master end at every preset time interval. When the above-mentioned computer program is executed by a processor, the method for feedback of distance from the end of an interventional robot is implemented, including the following steps: obtaining the instrument delivery distance sent by the slave end; calculating the position information of the current slender medical device based on the instrument delivery distance; and retrieving related visualization files for visualization display based on the position information.

[0140] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods 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 memory, storage, database or other media provided in this application and used in the embodiments may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct RAMbus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0141] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, device, article or method including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, device, article or method. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the existence of other identical elements in the process, device, article or method including the element.

[0142] The above description is only a preferred embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for providing distance feedback from a remote end of an interventional robot, characterized in that: include: Determining whether the detection device is triggered by the marking point; wherein a plurality of the marking points are arranged on the elongated medical device for being identified by the detection device during the delivery of the elongated medical device; If not triggered, the device delivery distance is calculated based on the collected device delivery parameters; If triggered, updating the instrument delivery distance based on the identified marking distance information of the marking point; The instrument delivery distance is sent to the master end.

2. The interventional robot slave end distance feedback method according to claim 1, characterized in that: Before the step of determining whether the detection device is triggered by the marking point, the method includes: Based on the initialization instruction, the instrument delivery device is controlled to move the designated marking point on the elongated medical device to the detection device, and the instrument delivery parameters are cleared.

3. The interventional robot slave end distance feedback method according to claim 1, characterized in that: The step of calculating the instrument delivery distance based on the collected instrument delivery parameters if no trigger is given comprises: collecting instrument delivery parameters in real time, wherein the instrument delivery parameters include encoder values; Based on the instrument delivery parameters, the instrument delivery distance is calculated by a preset formula; wherein the preset formula is: The instrument delivery distance is updated to the calculated instrument delivery distance.

4. The interventional robot slave end distance feedback method according to claim 1, characterized in that: If the number of the marking points includes two, the step of determining whether the detection device is triggered by the marking points includes: If the current delivery direction is the entry direction, the marking feature of the proximal marking point is loaded; Based on the marking feature of the proximal marking point, it is determined whether the detection device is triggered by the proximal marking point.

5. The interventional robot slave end distance feedback method according to claim 1, characterized in that: If the number of the marking points includes two, the step of determining whether the detection device is triggered by the marking point further includes: If the current delivery direction is the exit direction, the marking feature of the remote marking point is loaded; Based on the marking feature of the remote marking point, it is determined whether the detection device is triggered by the remote marking point.

6. The interventional robot slave end distance feedback method according to claim 1, characterized in that: The step of updating the device delivery distance based on the identified marking distance information of the marking point if triggered comprises: If triggered, identify the distance data between the current marking point and the instrument head end; The instrument delivery distance is updated to the distance data.

7. A method for visualizing an interventional robot master end, implemented based on the method described in any one of claims 1 to 6, characterized in that: include: Get the device delivery distance sent from the end; calculating the current position information of the elongated medical device based on the device delivery distance; Relevant visualization files are retrieved based on the location information for visualization display.

8. The method for visualizing the interventional robot master terminal according to claim 7, characterized in that: The distance between the proximal marking point of the slender medical device and the head end of the device is set based on the length of the external catheter, and the step of retrieving the relevant visualization file for visualization based on the position information includes: Receiving external catheter length information input by a user; Calculating the relative position of the elongated medical device in the external catheter based on the position information and the external catheter length information; The visualization files corresponding to the external catheter and the current instrument are retrieved, and real-time visualization is performed based on the relative position; wherein the visualization includes a first prompt information and a second prompt information, and the first prompt information is generated when the proximal marking point is triggered by the sensor; and the second prompt information is generated when the distal marking point is triggered by the sensor.

9. An interventional robot slave end distance feedback device, characterized in that: include: A determination module, used to determine whether the detection device is triggered by the marking point; wherein a plurality of the marking points are arranged on the elongated medical device, and are used to be identified by the detection device during the delivery of the elongated medical device; A first calculation module, for calculating the instrument delivery distance based on the collected instrument delivery parameters if not triggered; an updating module, for updating the instrument delivery distance based on the identified marking distance information of the marking point if triggered; The sending module is used to send the device delivery distance to the main end.

10. An interventional robot master terminal visualization display device, used to execute the interventional robot master terminal visualization method, comprising: A receiving module, used for acquiring the device delivery distance sent from the terminal; A second calculation module, configured to calculate the position information of the current elongated medical device based on the device delivery distance; The display module is used to retrieve relevant visualization files for visualization based on the location information.

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